Integrated imaging-cancer treatment apparatus and method of use thereof

ABSTRACT

The invention comprises a method and apparatus for directing protons to a tumor, comprising the steps of: (1) holding a patient with a patient support; (2) providing an imaging system comprising: a rotatable unit at least partially surrounding an axial perimeter of the patient support, a translation guide rail, an imaging source attached to the rotatable unit, and an imaging detector attached to the rotatable unit; (3) translating and rotating the imaging source and the imaging detector relative to the patient support using the translation guide rail and the rotatable unit; and (4) providing an attachment section connected: on a first end to a robotic arm positioning system and on a second end to the patient support and the imaging system, the robotic arm positioning system repositioning, relative to a nozzle system linked to the synchrotron, the attachment system supporting the patient support system and the imaging system.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a continuation-in-part of U.S. patent applicationSer. No. 15/467,840 filed Mar. 23, 2017, which is a continuation-in-partof U.S. patent application Ser. No. 15/402,739 filed Jan. 10, 2017,which is a continuation-in-part of U.S. patent application Ser. No.15/348,625 filed Nov. 10, 2016, which is a continuation-in-part of U.S.patent application Ser. No. 15/167,617 filed May 27, 2016, which is acontinuation-in-part of U.S. patent application Ser. No. 15/152,479filed May 11, 2016, which is a continuation-in-part of U.S. patentapplication Ser. No. 14/216,788 filed Mar. 17, 2014, which is acontinuation-in-part of U.S. patent application Ser. No. 13/087,096filed Apr. 14, 2011, which claims benefit of U.S. provisional patentapplication No. 61/324,776 filed Apr. 16, 2010, all of which areincorporated herein in their entirety by this reference thereto.

BACKGROUND OF THE INVENTION

Field of the Invention

The invention relates generally to imaging and treating a tumor.

Discussion of the Prior Art

Cancer Treatment

Proton therapy works by aiming energetic ionizing particles, such asprotons accelerated with a particle accelerator, onto a target tumor.These particles damage the DNA of cells, ultimately causing their death.Cancerous cells, because of their high rate of division and theirreduced ability to repair damaged DNA, are particularly vulnerable toattack on their DNA.

Patents related to the current invention are summarized here.

Proton Beam Therapy System

F. Cole, et. al. of Loma Linda University Medical Center “Multi-StationProton Beam Therapy System”, U.S. Pat. No. 4,870,287 (Sep. 26, 1989)describe a proton beam therapy system for selectively generating andtransporting proton beams from a single proton source and accelerator toa selected treatment room of a plurality of patient treatment rooms.

Imaging

Lomax, A., “Method for Evaluating Radiation Model Data in Particle BeamRadiation Applications”, U.S. Pat. No. 8,461,559 B2 (Jun. 11, 2013)describes comparing a radiation target to a volume with a single pencilbeam shot to the targeted volume.

P. Adamee, et. al. “Charged Particle Beam Apparatus and Method forOperating the Same”, U.S. Pat. No. 7,274,018 (Sep. 25, 2007) and P.Adamee, et. al. “Charged Particle Beam Apparatus and Method forOperating the Same”, U.S. Pat. No. 7,045,781 (May 16, 2006) describe acharged particle beam apparatus configured for serial and/or parallelimaging of an object.

K. Hiramoto, et. al. “Ion Beam Therapy System and its Couch PositioningSystem”, U.S. Pat. No. 7,193,227 (Mar. 20, 2007) describe an ion beamtherapy system having an X-ray imaging system moving in conjunction witha rotating gantry.

C. Maurer, et. al. “Apparatus and Method for Registration of Images toPhysical Space Using a Weighted Combination of Points and Surfaces”,U.S. Pat. No. 6,560,354 (May 6, 2003) described a process of X-raycomputed tomography registered to physical measurements taken on thepatient's body, where different body parts are given different weights.Weights are used in an iterative registration process to determine arigid body transformation process, where the transformation function isused to assist surgical or stereotactic procedures.

M. Blair, et. al. “Proton Beam Digital Imaging System”, U.S. Pat. No.5,825,845 (Oct. 20, 1998) describe a proton beam digital imaging systemhaving an X-ray source that is movable into a treatment beam line thatcan produce an X-ray beam through a region of the body. By comparison ofthe relative positions of the center of the beam in the patientorientation image and the isocentre in the master prescription imagewith respect to selected monuments, the amount and direction of movementof the patient to make the best beam center correspond to the targetisocentre is determined.

S. Nishihara, et. al. “Therapeutic Apparatus”, U.S. Pat. No. 5,039,867(Aug. 13, 1991) describe a method and apparatus for positioning atherapeutic beam in which a first distance is determined on the basis ofa first image, a second distance is determined on the basis of a secondimage, and the patient is moved to a therapy beam irradiation positionon the basis of the first and second distances.

Problem

There exists in the art of charged particle cancer therapy a need foraccurate, precise, and rapid control of a treatment beam for imaging ofa patient and/or treatment of a tumor using charged particles in acomplex room setting.

SUMMARY OF THE INVENTION

The invention comprises an integrated imaging-cancer treatment andmethod of use thereof.

DESCRIPTION OF THE FIGURES

A more complete understanding of the present invention is derived byreferring to the detailed description and claims when considered inconnection with the Figures, wherein like reference numbers refer tosimilar items throughout the Figures.

FIG. 1A and FIG. 1B illustrate component connections of a chargedparticle beam therapy system, FIG. 1C illustrates a charged particletherapy system;

FIG. 2A and FIG. 2B illustrate a diode extraction system in standby andfunctional mode; FIG. 2C and FIG. 2D illustrate a triode in standby andoperational mode, respectively;

FIG. 3 illustrates a method of multi-axis charged particle beamirradiation control;

FIG. 4A and FIG. 4B illustrate a top view of a beam control tray and aside view of the beam control tray, respectively.

FIG. 5 illustrates patient specific tray inserts for insertion into thebeam control tray;

FIG. 6A illustrates insertion of the individualized tray assembly intothe beam path and FIG. 6B illustrates retraction of the tray assemblyinto a nozzle of the charged particle cancer therapy system;

FIG. 7 illustrates a tomography system;

FIG. 8 illustrates a beam path identification system;

FIG. 9A illustrates a beam path identification system coupled to a beamtransport system and a tomography scintillation detector and FIG. 9Billustrates the scintillation detector rotating with the patient andgantry nozzle;

FIG. 10 illustrates a treatment delivery control system;

FIG. 11 illustrates beam state determination systems;

FIG. 12A and FIG. 12B illustrate control of a patient interface systemwith a pendant and work-flow control system, respectively;

FIG. 13A illustrates a two-dimensional-two-dimensional imaging systemrelative to a cancer treatment beam, FIG. 13B illustrates multiplegantry supported imaging systems, and FIG. 13C illustrates a rotatablecone beam

FIG. 14A illustrates a scintillation material coupled to a detectorarray, FIG. 14B illustrates a fiber optic array in a tomography system;FIG. 14C and FIG. 14D illustrate end views of the fiber optic array; andFIG. 14E illustrates a micro-optic array coupled to the scintillationmaterial;

FIG. 15 illustrates use of multiple layers of scintillation materials;

FIG. 16A illustrates an array of scintillation optics; FIG. 16Billustrates a scintillating fiber optic; and FIG. 16C illustrates an x-,y-, z-axes array of scintillation optics or scintillation materials;

FIG. 17A illustrates a scintillation material;

FIG. 17B illustrates detector arrays orthogonally coupled to thescintillation material; and

FIG. 17C and FIG. 17D illustrate multiple detector arrays coupled to thescintillation material;

FIG. 18 illustrates subsystems of an imaging system;

FIG. 19A illustrates a hybrid gantry-imaging system; FIG. 19Billustrates a secondary rotation system, of the gantry, used forimaging; and

FIG. 19C illustrates a linearly translatable imaging system of thegantry;

FIG. 20 illustrates a dynamic charged particle beam positioning system;

FIG. 21 illustrates a treatment beam depth of penetration trackingsystem;

FIG. 22A and FIG. 22B illustrate a decrease and an increase in energy ofa treatment beam, respectively;

FIG. 23 illustrates differences between a beam interrupt and a beamalteration system;

FIG. 24 further illustrates differences between a beam interrupt and abeam alteration system;

FIG. 25 illustrates treatment of a tumor with multiple beam energiesusing a single loading of a ring;

FIG. 26A, FIG. 26B, and FIG. 26C illustrate a generic case, beamacceleration, and beam deceleration, respectively;

FIG. 27 illustrates use of two of more ring gaps;

FIG. 28 illustrates a multi-beamline treatment system;

FIG. 29 illustrates a detachable/movable transport beam nozzle;

FIG. 30 illustrates a residual energy based imaging system;

FIG. 31A illustrates a first residual energy system, FIG. 31Billustrates a residual energy curved used in imaging, FIG. 31Cillustrates a second residual energy determination system, and FIG. 31Dillustrates a third residual energy measurement system;

FIG. 32A illustrates a process of determining position of treatment roomobjects and FIG. 32B illustrates an iterative position tracking,imaging, and treatment system;

FIG. 33 illustrates a fiducial marker enhanced tomography imagingsystem;

FIG. 34 illustrates a fiducial marker enhanced treatment system;

FIGS. 35(A-C) illustrate isocenterless cancer treatment systems;

FIG. 36A and FIG. 36B illustrate a dual-imaging system;

FIG. 37A and FIG. 37B illustrate common path simultaneous imagingsystems;

FIG. 38A and FIG. 38B illustrate simultaneously tracking multipleindependent beam paths;

FIG. 39 illustrates a multiple beamline isocenterless system;

FIG. 40 illustrates a clear path, charged particle beam defined axistumor treatment system;

FIG. 41 illustrates a transformable axis system for tumor treatment;

FIG. 42 illustrates a semi-automated cancer therapy imaging/treatmentsystem;

FIG. 43 illustrates a system of automated generation of a radiationtreatment plan;

FIG. 44 illustrates a method of compensating for presence of anintervening object in auto-generation of a radiation treatment plan;

FIG. 45 illustrates a system of automatically updating a cancerradiation treatment plan during treatment;

FIG. 46 illustrates an automated radiation treatment plan developmentand implementation system;

FIG. 47A illustrates a rotatable gantry, FIG. 47B illustrates relativebeam rotation in the gantry as the gantry rotates, FIG. 47C illustratesrotation of the charged particle beam, and FIG. 47D illustrates acorrected beam relative to gantry rotation;

FIG. 48 illustrates an integrated imaging-cancer treatment system;

FIG. 49A illustrates a first translation imaging system, FIG. 49Billustrates a second translation imaging system, FIG. 49C illustrates afirst rotational imaging system, and FIG. 49D illustrates atranslatable/rotatable imaging system of a joint patientpositioning-imaging system; and

FIG. 50 illustrates an integrated and independently movable imagingsystem and charged particle therapy treatment system.

Elements and steps in the figures are illustrated for simplicity andclarity and have not necessarily been rendered according to anyparticular sequence. For example, steps that are performed concurrentlyor in different order are illustrated in the figures to help improveunderstanding of embodiments of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The invention comprises a method and apparatus for directing protons toa tumor, comprising the steps of: (1) holding a patient with a patientsupport; (2) providing an imaging system comprising: a rotatable unit atleast partially surrounding an axial perimeter of the patient support, atranslation guide rail, an imaging source attached to the rotatableunit, and an imaging detector attached to the rotatable unit; (3)translating and rotating the imaging source and the imaging detectorrelative to the patient support using the translation guide rail and therotatable unit; and (4) providing an attachment section connected: on afirst end to a robotic arm positioning system and on a second end to thepatient support and the imaging system, the robotic arm positioningsystem repositioning, relative to a nozzle system linked to thesynchrotron, the attachment system supporting the patient support systemand the imaging system.

In combination, the above described embodiment is used with an X-rayimaging and charged particle beam treatment or imaging system comprisingthe steps of: rotating an X-ray imaging system, configured to deliverthe X-rays, around both a first rotation axis and the patient; imagingthe patient using X-rays from the X-ray imaging system; and passing thepositively charged particles through an exit port of a nozzle system,the nozzle system connected to a synchrotron via a first beam transportline, the positively charged particles passing into the patient from theexit port along a z-axis and at least one of: (1) treating the tumorwith the positively charged particles and (2) imaging the patient withresidual charged particles comprising the positively charged particlesafter transmitting through the patient. In one case, a first cone beamX-ray source and a second cone beam X-ray source are positioned on afirst side of the patient and at least one two-dimensional X-raydetector is positioned on an opposite side of the patient from the firstcone beam X-ray source.

In combination, the above described embodiment is used with amultiplexed proton tomography imaging apparatus and method of usethereof. For example, a method for imaging a tumor of a patientcomprises the steps of: (1) simultaneously detecting spatially resolvedpositively charged particle positions passing through each of a set ofcross-section planes, where the cross-section planes are both prior toand posterior to the patient along a path of the positively chargedparticles; (2) determining a prior vector for each of the individualpositively charged particles entering a patient using the detectedpositions; (3) determining a posterior vector for each of the individualpositively charged particles exiting the patient using the detectedpositions; (4) generating a path, a best path, and/or a probable path ofeach positively charged particle through the patient; and (5) generatingan image of the patient using the n probable proton paths. In one case,an imaging system: (1) delivers a set of n protons from a synchrotron:through a beam transport system exit nozzle, through a proton radialcross-section beam expander, through a first prior imaging sheet,through a second prior imaging sheet, through a patient position,through at least one posterior imaging sheet, and into a scintillationmaterial of a beam energy scintillation detector system, where the firstprior imaging sheet is positioned between the proton radialcross-section beam expander and the patient position, where the secondprior imaging sheet is positioned between the proton radialcross-section beam expander and the patient position; (2) simultaneouslydetects spatially resolved both prior and posterior position photonemissions, resultant from passage of multiple protons; (4) determinesboth a prior vector and a posterior vector for each proton; and (5)determines a path for each proton through the patient and uses thedetermined paths, optionally and preferably with residual energydeterminations, to generate an image of the patient.

In combination, a method of double exposure imaging of a tumor of apatient is performed using hardware, using a detector responsive to bothX-rays and positively charged particles, simultaneously, and/or ineither order. The preferably near-simultaneous double exposure yieldsenhanced resolution due to the imaging rate versus patient movement, norequirement of a software overlay step, and associated errors, of theX-ray based image and the positively charged particle based image, andenhancement of an X-ray image, the enhancement resultant from adiffering physical interaction of the positively charged particles withthe patient compared to interactions of X-rays and the patient. Further,resolution enhancements utilize individual particle tracking, asmeasured using detection screens, to determine a probable intra-patientpath. Optionally, residual energy positively charged particles, havingpassed through a primarily X-ray detector, are used to generate asecond/dual image at a secondary detector, such as a detector based onscintillation resultant from proton absorbance.

In combination, a method for imaging a tumor of a patient using X-raysand positively charged particles comprises the steps of: (1) generatingan X-ray image using the X-rays directed from an X-ray source, throughthe patient, and to an X-ray detector, (2) generating a positivelycharged particle image: (a) using the positively charged particlesdirected from an exit nozzle, through the patient, through the X-raydetector, and to a scintillator, the scintillator emitting photons whenstruck by the positively charged particles and (b) generating thepositively charged particle image of the tumor using a photon detectorconfigured to detect the emitted photons, where the X-ray detectormaintains a static position between said the nozzle and the scintillatorduring the step of generating a positively charged particle image.Individual images are optionally and preferably collected as a functionof relative rotation of the patient and the imaging elements to form athree-dimensional image, such as via tomography.

In combination, a method and apparatus is described for determining aposition of a tumor in a patient for treatment of the tumor usingpositively charged particles in a treatment room. More particularly, themethod and apparatus use a set of fiducial markers and fiducialdetectors to mark/determine relative position of static and/or moveableobjects in a treatment room using photons passing from the markers tothe detectors. Further, position and orientation of at least one of theobjects is calibrated to a reference line, such as a zero-offset beamtreatment line passing through an exit nozzle, which yields a relativeposition of each fiducially marked object in the treatment room.Treatment calculations are subsequently determined using the referenceline and/or points thereon. The inventor notes that the treatmentcalculations are optionally and preferably performed without use of anisocenter point, such as a central point about which a treatment roomgantry rotates, which eliminates mechanical errors associated with theisocenter point being an isocenter volume in practice.

For example, a set of fiducial marker detectors detect photons emittedfrom and/or reflected off of a set of fiducial markers positioned on oneor more objects in a treatment room and resultant determined distancesand/or calculated angles are used to determine relative positions ofmultiple objects or elements in the treatment room. Generally, in aniterative process, at a first time objects, such as a treatment beamlineoutput nozzle, a specific potion of a patient relative to a tumor, ascintillation detection material, an X-ray system element, and/or adetection element, are mapped and relative positions and/or anglestherebetween are determined. At a second time, the position of themapped objects is used in: (1) imaging, such as X-ray, positron emissiontomography, and/or proton beam imaging and/or (2) beam targeting andtreatment, such as positively charged particle based cancer treatment.As relative positions of objects in the treatment room are dynamicallydetermined using the fiducial marking system, engineering and/ormathematical constraints of a treatment beamline isocenter is removed.

In combination, a method and apparatus for imaging a tumor of a patientusing positively charged particles, comprising the steps of: (1)sequentially delivering from an output nozzle, connected to a first beamtransport line, to the patient: a first set of the positively chargedparticles comprising a first mean energy and a second set of thepositively charged particles comprising a second mean energy, the secondmean energy at least two mega electron Volts different from the firstmean energy; (2) after transmission through the patient, sequentiallydetecting: a first residual energy of the first set of the positivelycharged particles and a second residual energy of the second set of thepositively charged particles; and (3) determining a water equivalentthickness of a probed path of the patient using the first residualenergy and the second residual energy. The detection step optionallyuses a scintillation material and/or an X-ray detector material todetect the residual energy positively charged particles. Use of ahalf-maximum of a Gaussian fit to output of the detection material as afunction of energy, preferably using three of more detected residualenergies, yields a water equivalent thickness of the sampled beam path.

In combination, an apparatus and method of use thereof are used fordirecting positively charged particle beams into a patient from severaldirections. In one example, a charged particle delivery system,comprising: a controller, an accelerator, a beam path switching magnet,a primary beam line from the accelerator to the path switching magnet,and a plurality of physically separated beam transport lines from thebeam path switching magnet to a single patient treatment position isused, where the controller and beam switching magnet are used to directsets of the positively charged particles through alternatingly selectedbeam transport lines to the patient, tumor, and/or an imaging detector.Optionally, during a single session and at separate times, a singlerepositionable treatment nozzle is repositioned to interface with eachbeam transport line, such as to a terminus of each beam transport line,which allows the charged particle delivery system to use one and/orfewer beam output nozzles that are moved with nozzle gantries. A singlenozzle with first and second axis scanning capability along with beamtransport lines leading to various sides of a patient allow the chargedparticle delivery system to operate without movement and/or rotation ofa beam transport gantry and an associated beam transport gantry. Beamtransport line gantries are optional as one or more of the beamtransport lines are preferably statically positioned.

In combination, a beam adjustment system is used to perform energyadjustments on circulating charged particles in a synchrotron previouslyaccelerated to a starting energy with a traditional accelerator of thesynchrotron or related devices, such as a cyclotron. The beam adjustmentsystem uses a radio-frequency modulated potential difference appliedalong a longitudinal path of the circulating charged particles toaccelerate or decelerate the circulating charged particles. Optionally,the beam adjustment system phase shifts the applied radio-frequencyfield to accelerate or decelerate the circulating charged particle whilespatially longitudinally tightening a grouped bunch of the circulatingcharged particles. The beam adjustment system facilitates treatingmultiple layers or depths of the tumor between the slow step ofreloading the synchrotron. Optionally, the potential differences acrossa gap described herein are used to accelerate or decelerate the chargedparticle after extraction from the synchrotron without use of theradio-frequency modulation.

In combination, an imaging system, such as a positron emission trackingsystem, optionally used to control the beam adjustment system, is usedto: dynamically determine a treatment beam position, track a history oftreatment beam positions, guide the treatment beam, and/or image a tumorbefore, during, and/or after treatment with the charged particle beam.

In combination, an imaging system translating on a linear path past apatient operates alternatingly with and/or during a gantry rotating atreatment beam around the patient. More particularly, a method for bothimaging a tumor and treating the tumor of a patient using positivelycharged particles includes the steps of: (1) rotating a gantry supportand/or gantry, connected to at least a portion of a beam transportsystem configured to pass a charged particle treatment beam,circumferentially about the patient and a gantry rotation axis; (2)translating a translatable imaging system past the patient on a pathparallel to an axis perpendicular to the gantry rotation axis; (3)imaging the tumor using the translatable imaging system; and (4)treating the tumor using the treatment beam.

In combination, a method for imaging and treating a tumor of a patientwith positively charged particles, comprises the steps of: (1) using arotatable gantry support to support and rotate a section of a positivelycharged particle beam transport line about a rotation axis and a tumorof a patient; (2) using a rotatable and optionally extendable secondarysupport to support, circumferentially position, and laterally position aprimary and optional secondary imaging system about the tumor; (3) imagethe tumor using the primary and optional secondary imaging system as afunction of rotation and/or translation of the secondary support; and(4) treat, optionally concurrently, the tumor using the positivelycharged particles as a function of circumferential position of thesection of the charged particle beam about the tumor.

In combination, a method and apparatus for imaging a tumor of a patientusing positively charged particles and X-rays, comprises the steps of:(1) transporting the positively charged particles from an accelerator toa patient position using a beam transport line, where the beam transportline comprises a positively charged particle beam path and an X-ray beampath; (2) detecting scintillation induced by the positively chargedparticles using a scintillation detector system; (3) detecting X-raysusing an X-ray detector system; (4) positioning a mounting rail throughlinear extension/retraction to: at a first time and at a first extensionposition of the mounting rail, position the scintillation detectorsystem opposite the patient position from the exit nozzle and at asecond time and at a second extension position of the mounting rail,position the X-ray detector system opposite the patient position fromthe exit nozzle; (5) generating an image of the tumor using output ofthe scintillation detector system and the X-ray detector system; and (6)alternating between the step of detecting scintillation and treating thetumor via irradiation of the tumor using the positively chargedparticles.

In combination, a method or apparatus for tomographically imaging asample, such as a tumor of a patient, using positively charged particlesis described. Position, energy, and/or vectors of the positively chargedparticles are determined using a plurality of scintillators, such aslayers of chemically distinct scintillators where each chemicallydistinct scintillator emits photons of differing wavelengths upon energytransfer from the positively charged particles. Knowledge of position ofa given scintillator type and a color of the emitted photon from thescintillator type allows a determination of residual energy of thecharged particle energy in a scintillator detector. Optionally, atwo-dimensional detector array additionally yields x/y-planeinformation, coupled with the z-axis energy information, about state ofthe positively charged particles. State of the positively chargedparticles as a function of relative sample/particle beam rotation isused in tomographic reconstruction of an image of the sample or thetumor.

In another example, a method or apparatus for tomographic imaging of atumor of a patient using positively charged particles respectivelypositions a plurality of two-dimensional detector arrays on multiplesurfaces of a scintillation material or scintillator. For instance, afirst two-dimensional detector array is optically coupled to a firstside or surface of a scintillation material, a second two-dimensionaldetector array is optically coupled to a second side of thescintillation material, and a third two-dimensional detector array isoptically coupled to a third side of the scintillation material.Secondary photons emitted from the scintillation material, resultantfrom energy transfer from the positively charged particles, are detectedby the plurality of two-dimensional detector arrays, where each detectorarray images the scintillation material. Combining signals from theplurality of two-dimensional detector arrays, the path, position,energy, and/or state of the positively charged particle beam as afunction of time and/or rotation of the patient relative to thepositively charged particle beam is determined and used in tomographicreconstruction of an image of the tumor in the patient or a sample.Particularly, a probabilistic pathway of the positively chargedparticles through the sample, which is altered by sample constituents,is constrained, which yields a higher resolution, a more accurate and/ora more precise image.

In another example, a scintillation material is longitudinally packagedin a circumferentially surrounding sheath, where the sheath has a lowerindex of refraction than the scintillation material. The scintillationmaterial yields emitted secondary photons upon passage of a chargedparticle beam, such as a positively charged residual particle beamhaving transmitted through a sample. The internally generated secondaryphotons within the sheath are guided to a detector element by thedifference in index of refraction between the sheath and thescintillation material, similar to a light pipe or fiber optic. Thecoated scintillation material or fiber is referred to herein as ascintillation optic. Multiple scintillation optics are assembled to forma two-dimensional scintillation array. The scintillation array isoptionally and preferably coupled to a detector or two-dimensionaldetector array, such as via a coupling optic, an array of focusingoptics, and/or a color filter array.

In combination, an ion source is coupled to the apparatus. The ionsource extraction system facilitates on demand extraction of chargedparticles at relatively low voltage levels and from a stable ion source.For example, a triode extraction system allows extraction of chargedparticles, such as protons, from a maintained temperature plasma source,which reduces emittance of the extracted particles and allows use oflower, more maintainable downstream potentials to control an ion beampath of the extracted ions. The reduced emittance facilitates ion beamprecision in applications, such as in imaging, tumor imaging,tomographic imaging, and/or cancer treatment.

In combination, a state of a charged particle beam is monitored and/orchecked, such as against a previously established radiation plan, in aposition just prior to the beam entering the patient. In one example,the charged particle beam state is measured after a final manipulationof intensity, energy, shape, and/or position, such as via use of aninsert, a range filter, a collimator, an aperture, and/or a compensator.In one case, one or more beam crossing elements, sheets, coatings, orlayers, configured to emit photons upon passage therethrough by thecharged particle beam, are positioned between the final manipulationapparatus, such as the insert, and prior to entry into the patient.

In combination, a patient specific tray insert is inserted into a trayframe to form a beam control tray assembly, the beam control trayassembly is inserted into a slot of a tray receiver assembly, and thetray assembly is positioned relative to a gantry nozzle. Optionally,multiple tray inserts, each used to control a beam state parameter, areinserted into slots of the tray receiver assembly. The beam control trayassembling includes an identifier, such as an electromechanicalidentifier, of the particular insert type, which is communicated to amain controller, such as via the tray receiver assembly. Optionally andpreferably, a hand control pendant is used in loading and/or positioningthe tray receiver assembly.

In combination, a gantry positions both: (1) a section of a beamtransport system, such as a terminal section, used to transport anddirect positively charged particles to a tumor and (2) at least oneimaging system. In one case, the imaging system is orientated on a sameaxis as the positively charged particle, such as at a different timethrough rotation of the gantry. In another case, the imaging system usesat least two crossing beamlines, each beamline coupled to a respectivedetector, to yield multiple views of the patient. In another case, oneor more imaging subsystem yields a two-dimensional image of the patient,such as for position confirmation and/or as part of a set of images usedto develop a three-dimensional image of the patient.

In combination, multiple linked control stations are used to controlposition of elements of a beam transport system, nozzle, and/or patientspecific beam shaping element relative to a dynamically controlledpatient position and/or an imaging surface, element, or system.

In combination, a tomography system is optionally used in combinationwith a charged particle cancer therapy system. The tomography systemuses tomography or tomographic imaging, which refers to imaging bysections or sectioning through the use of a penetrating wave, such as apositively charge particle from an injector and/or accelerator.Optionally and preferably, a common injector, accelerator, and beamtransport system is used for both charged particle based tomographicimaging and charged particle cancer therapy. In one case, an outputnozzle of the beam transport system is positioned with a gantry systemwhile the gantry system and/or a patient support maintains ascintillation plate of the tomography system on the opposite side of thepatient from the output nozzle.

In another example, a charged particle state determination system, of acancer therapy system or tomographic imaging system, uses one or morecoated layers in conjunction with a scintillation material,scintillation detector and/or a tomographic imaging system at time oftumor and surrounding tissue sample mapping and/or at time of tumortreatment, such as to determine an input vector of the charged particlebeam into a patient and/or an output vector of the charged particle beamfrom the patient.

In another example, the charged particle tomography apparatus is used incombination with a charged particle cancer therapy system. For example,tomographic imaging of a cancerous tumor is performed using chargedparticles generated with an injector, accelerator, and guided with adelivery system. The cancer therapy system uses the same injector,accelerator, and guided delivery system in delivering charged particlesto the cancerous tumor. For example, the tomography apparatus and cancertherapy system use a common raster beam method and apparatus fortreatment of solid cancers. More particularly, the invention comprises amulti-axis and/or multi-field raster beam charged particle acceleratorused in: (1) tomography and (2) cancer therapy. Optionally, the systemindependently controls patient translation position, patient rotationposition, two-dimensional beam trajectory, delivered radiation beamenergy, delivered radiation beam intensity, beam velocity, timing ofcharged particle delivery, and/or distribution of radiation strikinghealthy tissue. The system operates in conjunction with a negative ionbeam source, synchrotron, patient positioning, imaging, and/or targetingmethod and apparatus to deliver an effective and uniform dose ofradiation to a tumor while distributing radiation striking healthytissue.

In combination, a treatment delivery control system (TDCS) or maincontroller is used to control multiple aspects of the cancer therapysystem, including one or more of: an imaging system, such as a CT orPET; a positioner, such as a couch or patient interface module; aninjector or injection system; a radio-frequency quadrupole system; aring accelerator or synchrotron; an extraction system; an irradiationplan; and a display system. The TDCS is preferably a control system forautomated cancer therapy once the patient is positioned. The TDCSintegrates output of one or more of the below described cancer therapysystem elements with inputs of one or more of the below described cancertherapy system elements. More generally, the TDCS controls or managesinput and/or output of imaging, an irradiation plan, and chargedparticle delivery.

In combination, one or more trays are inserted into the positivelycharged particle beam path, such as at or near the exit port of a gantrynozzle in close proximity to the patient. Each tray holds an insert,such as a patient specific insert for controlling the energy, focusdepth, and/or shape of the charged particle beam. Examples of insertsinclude a range shifter, a compensator, an aperture, a ridge filter, anda blank. Optionally and preferably, each tray communicates a held andpositioned insert to a main controller of the charged particle cancertherapy system. The trays optionally hold one or more of the imagingsheets configured to emit light upon transmission of the chargedparticle beam through a corresponding localized position of the one ormore imaging sheets.

For clarity of presentation and without loss of generality, throughoutthis document, treatment systems and imaging systems are describedrelative to a tumor of a patient. However, more generally any sample isimaged with any of the imaging systems described herein and/or anyelement of the sample is treated with the positively charged particlebeam(s) described herein.

Charged Particle Beam Therapy

Throughout this document, a charged particle beam therapy system, suchas a proton beam, hydrogen ion beam, or carbon ion beam, is described.Herein, the charged particle beam therapy system is described using aproton beam. However, the aspects taught and described in terms of aproton beam are not intended to be limiting to that of a proton beam andare illustrative of a charged particle beam system, a positively chargedbeam system, and/or a multiply charged particle beam system, such as C⁴⁺or C⁶⁺. Any of the techniques described herein are equally applicable toany charged particle beam system.

Referring now to FIG. 1A, a charged particle beam system 100 isillustrated. The charged particle beam preferably comprises a number ofsubsystems including any of: a main controller 110; an injection system120; a synchrotron 130 that typically includes: (1) an acceleratorsystem 131 and (2) an internal or connected extraction system 134; abeam transport system 135; a scanning/targeting/delivery system 140; anozzle system 146; a patient interface module 150; a display system 160;and/or an imaging system 170.

An exemplary method of use of the charged particle beam system 100 isprovided. The main controller 110 controls one or more of the subsystemsto accurately and precisely deliver protons to a tumor of a patient. Forexample, the main controller 110 obtains an image, such as a portion ofa body and/or of a tumor, from the imaging system 170. The maincontroller 110 also obtains position and/or timing information from thepatient interface module 150. The main controller 110 optionallycontrols the injection system 120 to inject a proton into a synchrotron130. The synchrotron typically contains at least an accelerator system131 and an extraction system 134. The main controller 110 preferablycontrols the proton beam within the accelerator system, such as bycontrolling speed, trajectory, and timing of the proton beam. The maincontroller then controls extraction of a proton beam from theaccelerator through the extraction system 134. For example, thecontroller controls timing, energy, and/or intensity of the extractedbeam. The controller 110 also preferably controls targeting of theproton beam through the scanning/targeting/delivery system 140 to thepatient interface module 150. One or more components of the patientinterface module 150, such as translational and rotational position ofthe patient, are preferably controlled by the main controller 110.Further, display elements of the display system 160 are preferablycontrolled via the main controller 110. Displays, such as displayscreens, are typically provided to one or more operators and/or to oneor more patients. In one embodiment, the main controller 110 times thedelivery of the proton beam from all systems, such that protons aredelivered in an optimal therapeutic manner to the tumor of the patient.

Herein, the main controller 110 refers to a single system controllingthe charged particle beam system 100, to a single controller controllinga plurality of subsystems controlling the charged particle beam system100, or to a plurality of individual controllers controlling one or moresub-systems of the charged particle beam system 100.

Example I Charged Particle Cancer Therapy System Control

Referring now to FIG. 1B, an example of a charged particle cancertherapy system 100 is provided. A main controller receives input fromone, two, three, or four of a respiration monitoring and/or controllingcontroller 180, a beam controller 185, a rotation controller 147, and/ora timing to a time period in a respiration cycle controller 148. Thebeam controller 185 preferably includes one or more or a beam energycontroller 182, the beam intensity controller 340, a beam velocitycontroller 186, and/or a horizontal/vertical beam positioning controller188. The main controller 110 controls any element of the injectionsystem 120; the synchrotron 130; the scanning/targeting/delivery system140; the patient interface module 150; the display system 160; and/orthe imaging system 170. For example, the respirationmonitoring/controlling controller 180 controls any element or methodassociated with the respiration of the patient; the beam controller 185controls any of the elements controlling acceleration and/or extractionof the charged particle beam; the rotation controller 147 controls anyelement associated with rotation of the patient 830 or gantry; and thetiming to a period in respiration cycle controller 148 controls anyaspects affecting delivery time of the charged particle beam to thepatient. As a further example, the beam controller 185 optionallycontrols any magnetic and/or electric field about any magnet in thecharged particle cancer therapy system 100. One or more beam statesensors 190 sense position, direction, intensity, and/or energy of thecharged particles at one or more positions in the charged particle beampath. A tomography system 700, described infra, is optionally used tomonitor intensity and/or position of the charged particle beam.

Referring now to FIG. 1C, an illustrative exemplary embodiment of oneversion of the charged particle beam system 100 is provided. The number,position, and described type of components is illustrative andnon-limiting in nature. In the illustrated embodiment, the injectionsystem 120 or ion source or charged particle beam source generatesprotons. The injection system 120 optionally includes one or more of: anegative ion beam source, an ion beam focusing lens, and a tandemaccelerator. The protons are delivered into a vacuum tube that runsinto, through, and out of the synchrotron. The generated protons aredelivered along an initial path 262. Optionally, focusing magnets 127,such as quadrupole magnets or injection quadrupole magnets, are used tofocus the proton beam path. A quadrupole magnet is a focusing magnet. Aninjector bending magnet 128 bends the proton beam toward a plane of thesynchrotron 130. The focused protons having an initial energy areintroduced into an injector magnet 129, which is preferably an injectionLambertson magnet. Typically, the initial beam path 262 is along an axisoff of, such as above, a circulating plane of the synchrotron 130. Theinjector bending magnet 128 and injector magnet 129 combine to move theprotons into the synchrotron 130. Main bending magnets, dipole magnets,turning magnets, or circulating magnets 132 are used to turn the protonsalong a circulating beam path 264. A dipole magnet is a bending magnet.The main bending magnets 132 bend the initial beam path 262 into acirculating beam path 264. In this example, the main bending magnets 132or circulating magnets are represented as four sets of four magnets tomaintain the circulating beam path 264 into a stable circulating beampath. However, any number of magnets or sets of magnets are optionallyused to move the protons around a single orbit in the circulationprocess. The protons pass through an accelerator 133. The acceleratoraccelerates the protons in the circulating beam path 264. As the protonsare accelerated, the fields applied by the magnets are increased.Particularly, the speed of the protons achieved by the accelerator 133are synchronized with magnetic fields of the main bending magnets 132 orcirculating magnets to maintain stable circulation of the protons abouta central point or region 136 of the synchrotron. At separate points intime the accelerator 133/main bending magnet 132 combination is used toaccelerate and/or decelerate the circulating protons while maintainingthe protons in the circulating path or orbit. An extraction element ofan inflector/deflector system is used in combination with a Lambertsonextraction magnet 137 to remove protons from their circulating beam path264 within the synchrotron 130. One example of a deflector component isa Lambertson magnet. Typically the deflector moves the protons from thecirculating plane to an axis off of the circulating plane, such as abovethe circulating plane. Extracted protons are preferably directed and/orfocused using an extraction bending magnet 142 and optional extractionfocusing magnets 141, such as quadrupole magnets, and optional bendingmagnets along a positively charged particle beam transport path 268 in abeam transport system 135, such as a beam path or proton beam path, intothe scanning/targeting/delivery system 140. Two components of a scanningsystem 140 or targeting system typically include a first axis control143, such as a vertical control, and a second axis control 144, such asa horizontal control. In one embodiment, the first axis control 143allows for about 100 mm of vertical or y-axis scanning of the protonbeam 268 and the second axis control 144 allows for about 700 mm ofhorizontal or x-axis scanning of the proton beam 268. A nozzle system146 is used for directing the proton beam, for imaging the proton beam,for defining shape of the proton beam, and/or as a vacuum barrierbetween the low pressure beam path of the synchrotron and theatmosphere. Protons are delivered with control to the patient interfacemodule 150 and to a tumor of a patient. All of the above listed elementsare optional and may be used in various permutations and combinations.

Ion Extraction from Ion Source

A method and apparatus are described for extraction of ions from an ionsource. For clarity of presentation and without loss of generality,examples focus on extraction of protons from the ion source. However,more generally cations of any charge are optionally extracted from acorresponding ion source with the techniques described herein. Forinstance, C⁴⁺ or C⁶⁺ are optionally extracted using the ion extractionmethods and apparatus described herein. Further, by reversing polarityof the system, anions are optionally extracted from an anion source,where the anion is of any charge.

Herein, for clarity of presentation and without loss of generality, ionextraction is coupled with tumor treatment and/or tumor imaging.However, the ion extraction is optional used in any method or apparatususing a stream or time discrete bunches of ions.

Diode Extraction

Referring now to FIG. 2A and FIG. 2B, a first ion extraction system isillustrated. The first ion extraction system uses a diode extractionsystem 200, where a first element of the diode extraction system is anion source 122 or first electrode at a first potential and a secondelement 202 of the diode extraction system is at a second potential.Generally, the first potential is raised or lowered relative to thesecond potential to extract ions from the ion source 122 along thez-axis or the second potential is raised or lowered relative to thefirst potential to extract ions from the ion source 122 along thez-axis, where polarity of the potential difference determines if anionsor cations are extracted from the ion source 122.

Still referring to FIG. 2A and FIG. 2B, an example of ion extractionfrom the ion source 122 is described. As illustrated in FIG. 2A, in anon-extraction time period, a non-extraction diode potential, A₁, of theion source 122 is held at a potential equal to a potential, B₁, of thesecond element 202. Referring now to FIG. 2B, during an extraction timeperiod, a diode extraction potential, A₂, of the ion source 122 israised, causing a positively charged cation, such as the proton, to bedrawn out of the ion chamber toward the lower potential of the secondelement 202. Similarly, if the diode extraction potential, A₂, of theion source is lowered relative a potential, B₁, then an anion isextracted from the ion source 122 toward a higher potential of thesecond element 202. In the diode extraction system 200, the voltage of alarge mass and corresponding large capacitance of the ion source 122 israised or lowered, which takes time, has an RC time constant, andresults in a range of temperatures of the plasma during the extractiontime period, which is typically pulsed on and off with time.Particularly, as the potential of the ion source 122 is cycled withtime, the ion source 122 temperature cycles, which results in a range ofemittance values, resultant from conservation of momentum, and acorresponding less precise extraction beam. Alternatively, potential ofthe second element 202 is varied, altered, pulsed, or cycled, whichreduces a range of emittance values during the extraction process.

Triode Extraction

Referring now to FIG. 2C and FIG. 2D, a second ion extraction system isillustrated. The second ion extraction system uses a triode extractionsystem 210. The triode extraction system 210 uses: (1) an ion source122, (2) a gating electrode 204 also referred to as a suppressionelectrode, and (3) an extraction electrode 206. Optionally, a firstelectrode of the triode extraction system 210 is positioned proximatethe ion source 122 and is maintained at a potential as described, infra,using the ion source as the first electrode of the triode extractionsystem. Generally, potential of the gating electrode 204 is raised andlowered to, as illustrated, stop and start extraction of a positive ion.Varying the potential of the gating electrode 204 has the advantages ofaltering the potential of a small mass with a correspondingly smallcapacitance and small RC time constant, which via conservation ofmomentum, reduces emittance of the extracted ions. Optionally, a firstelectrode maintained at the first potential of the ion source is used asthe first element of the triode extraction system in place of the ionsource 122 while also optionally further accelerating and/or focusingthe extracted ions or set of ions using the extraction electrode 206.Several example further describe the triode extraction system 210.

Example I

Still referring to FIG. 2C and FIG. 2D, a first example of ion beamextraction using the triode extraction system 210 is provided.Optionally and preferably, the ion source 122 is maintained at a stabletemperature. Maintaining the ion source 122 at a stable temperature,such as with a constant applied voltage, results in ions with moreuniform energy and thus velocity. Hence, extraction of ions from thestable temperature plasma results in extracted ions with more uniformenergy or velocity and smaller emittance, where emittance is a propertyof a charged particle beam in a particle accelerator. Emittance is ameasure for the average spread of particle coordinates inposition-and-momentum phase space and has the dimension of length, suchas meters, or length times angle, such as meters times radians.

Example II

Still referring to FIG. 2C and FIG. 2D, a second example of ion beamextraction using the triode extraction system 210 is providedillustrating voltages of the triode elements for extraction of cations,such as protons. Optionally and preferably, the extraction electrode 206is grounded at zero volts or is near ground, which allows downstreamelements about an ion beam path of the extracted ions to be held atground or near ground. The ability to maintain downstream elements aboutthe beam path at ground greatly eases design as the downstream elementsare often of high mass with high capacitance, thus requiring large powersupplies to maintain at positive or negative potentials. The ion source122, for proton ion formation and extraction therefrom, is optionallymaintained at 10 to 100 kV, more preferably at 20 to 80 kV, and mostpreferably at 30 kV±less than 1, 5, or 10 kV. The gating electrode 204is maintained at a non-extraction potential at or above the potential ofthe ion source 122 and is maintained at an extraction potential of lessthan the potential of the ion source and/or greater than or equal to thepotential of the extraction electrode 206.

Example III

Still referring to FIG. 2C and FIG. 2D, a third example of anion beamextraction using the triode extraction system 210 is provided.Generally, for extraction of anions the potentials of the second exampleare inverted and/or multiplied by negative one. For instance, if theextraction electrode 206 is held at ground, then the ion source 122 ismaintained with a negative voltage, such as at −30 kV, and the gatingelectrode cycles between the voltage of the ion source 122 and thepotential of the extraction electrode 206 to turn off and on extractionof anions from the ion source 122 along the extraction beamline.

Example IV

Still referring to FIG. 2C and FIG. 2D, a fourth example of extractionsuppression is provided. As illustrated in FIG. 2C, in thenon-extraction mode the ion source potential, A₃, is equal to the gatingelectrode potential, C₁. However, the gating electrode 204, which isalso referred to as a suppression electrode, is optionally held at ahigher potential than the ion source potential so as to provide asuppression barrier or a potential resistance barrier keeping cations inthe ion source 122. For instance, for cation extraction, if the ionsource potential is +30 kV, then the gating electrode potential isgreater than +30 kV, such as +32 kV±1, 1.5, or 2 kV. In a case of theion source 122 forming anions, the gating electrode potential, C₁, isoptionally held at a lower potential than the ion source potential, A₃.Generally, during the non-extraction phase, the gating electrode 204 isoptionally maintained at a gating potential close to the ion sourcepotential with a bias in voltage relative to the ion source potentialrepelling ions back into the ion source 122.

Example V

Still referring to FIG. 2C and FIG. 2D, a fifth example of using thetriode extraction system 210 with varying types of ion sources isprovided. The triode extraction system 210 is optionally used with anelectron cyclotron resonance (ECR) ion source, a dual plasmatron ionsource, an indirectly heated cathode ion source, a Freeman type ionsource, or a Bernas type ion source.

Example VI

Herein, for clarity of presentation and without loss of generality, thetriode extraction system 210 is integrated with an electron cyclotronresonance source. Generally, the electron resonance source generates anionized plasma by heating or superimposing a static magnetic field and ahigh-frequency electromagnetic field at an electron cyclotron resonancefrequency, which functions to form a localized plasma, where the heatingpower is optionally varied to yield differing initial energy levels ofthe ions. As the electron resonance source: (1) moves ions in an arc ina given direction and (2) is tunable in temperature, described infra,emittance of the electron resonance source is low and has an initialbeam in a same mean cycling or arc following direction. The temperatureof the electron cyclotron resonance ion source is optionally controlledthrough an external input, such as a tunable or adjustable microwavepower, a controllable and variable gas pressure, and/or a controllableand alterable arc voltage. The external input allows the plasma densityin the electron cyclotron resonance source to be controlled.

In a sixth example, an electron resonance source is the ion source 122of the triode extraction system 210. Optionally and preferably, thegating electrode 204 of the triode extraction system is oscillated, suchas from about the ion source potential toward the extraction electrodepotential, which is preferably grounded. In this manner, the extractedelectron beam along the initial path 262 is bunches of ions that havepeak intensities alternating with low or zero intensities, such as in anAC wave as opposed to a continuous beam, such as a DC wave.

Example VII

Still referring to FIG. 2C and FIG. 2D, optionally and preferablygeometries of the gating electrode 204 and/or the extraction electrode206 are used to focus the extracted ions along the initial ion beam path262.

Example VIII

Still referring to FIG. 2C and FIG. 2D, the lower emittance of theelectron cyclotron resonance triode extraction system is optionally andpreferably coupled with a downbeam or downstream radio-frequencyquadrupole, used to focus the beam, and/or a synchrotron, used toaccelerate the beam.

Example IX

Still referring to FIG. 2C and FIG. 2D, the lower emittance of theelectron cyclotron resonance triode extraction system is maintainedthrough the synchrotron 130 and to the tumor of the patient resulting ina more accurate, precise, smaller, and/or tighter treatment voxel of thecharged particle beam or charged particle pulse striking the tumor.

Example X

Still referring to FIG. 2C and FIG. 2D, the lower emittance of theelectron cyclotron resonance triode extraction system reduces total beamspread through the synchrotron 130 and the tumor to one or more imagingelements, such as an optical imaging sheet or scintillation materialemitting photons upon passage of the charged particle beam or strikingof the charged particle beam, respectively. The lower emittance of thecharged particle beam, optionally and preferably maintained through theaccelerator system 134 and beam transport system yields a tighter, moreaccurate, more precise, and/or smaller particle beam or particle burstdiameter at the imaging surfaces and/or imaging elements, whichfacilitates more accurate and precise tumor imaging, such as forsubsequent tumor treatment or to adjust, while the patient waits in atreatment position, the charged particle treatment beam position.

Any feature or features of any of the above provided examples areoptionally and preferably combined with any feature described in otherexamples provided, supra, or herein.

Ion Extraction from Accelerator

Referring now to FIG. 3, both: (1) an exemplary proton beam extractionsystem 300 from the synchrotron 130 and (2) a charged particle beamintensity control system 305 are illustrated. For clarity, FIG. 3removes elements represented in FIG. 1C, such as the turning magnets,which allows for greater clarity of presentation of the proton beam pathas a function of time. Generally, protons are extracted from thesynchrotron 130 by slowing the protons. As described, supra, the protonswere initially accelerated in a circulating path, which is maintainedwith a plurality of main bending magnets 132. The circulating path isreferred to herein as an original central beamline 264. The protonsrepeatedly cycle around a central point in the synchrotron 136. Theproton path traverses through a radio frequency (RF) cavity system 310.To initiate extraction, an RF field is applied across a first blade 312and a second blade 314, in the RF cavity system 310. The first blade 312and second blade 314 are referred to herein as a first pair of blades.

In the proton extraction process, an RF voltage is applied across thefirst pair of blades, where the first blade 312 of the first pair ofblades is on one side of the circulating proton beam path 264 and thesecond blade 314 of the first pair of blades is on an opposite side ofthe circulating proton beam path 264. The applied RF field appliesenergy to the circulating charged-particle beam. The applied RF fieldalters the orbiting or circulating beam path slightly of the protonsfrom the original central beamline 264 to an altered circulating beampath 265. Upon a second pass of the protons through the RF cavitysystem, the RF field further moves the protons off of the originalproton beamline 264. For example, if the original beamline is consideredas a circular path, then the altered beamline is slightly elliptical.The frequency of the applied RF field is timed to apply outward orinward movement to a given band of protons circulating in thesynchrotron accelerator. Orbits of the protons are slightly more offaxis compared to the original circulating beam path 264. Successivepasses of the protons through the RF cavity system are forced furtherand further from the original central beamline 264 by altering thedirection and/or intensity of the RF field with each successive pass ofthe proton beam through the RF field. Timing of application of the RFfield and/or frequency of the RF field is related to the circulatingcharged particles circulation pathlength in the synchrotron 130 and thevelocity of the charged particles so that the applied RF field has aperiod, with a peak-to-peak time period, equal to a period of time ofbeam circulation in the synchrotron 130 about the center 136 or aninteger multiple of the time period of beam circulation about the center136 of the synchrotron 130. Alternatively, the time period of beamcirculation about the center 136 of the synchrotron 130 is an integermultiple of the RF period time. The RF period is optionally used tocalculated the velocity of the charged particles, which relates directlyto the energy of the circulating charged particles.

The RF voltage is frequency modulated at a frequency about equal to theperiod of one proton cycling around the synchrotron for one revolutionor at a frequency than is an integral multiplier of the period of oneproton cycling about the synchrotron. The applied RF frequency modulatedvoltage excites a betatron oscillation. For example, the oscillation isa sine wave motion of the protons. The process of timing the RF field toa given proton beam within the RF cavity system is repeated thousands oftimes with each successive pass of the protons being moved approximatelyone micrometer further off of the original central beamline 264. Forclarity, the approximately 1000 changing beam paths with each successivepath of a given band of protons through the RF field are illustrated asthe altered beam path 265. The RF time period is process is known, thusenergy of the charged particles at time of hitting the extractionmaterial or material 330, described infra, is known.

With a sufficient sine wave betatron amplitude, the altered circulatingbeam path 265 touches and/or traverses a material 330, such as a foil ora sheet of foil. The foil is preferably a lightweight material, such asberyllium, a lithium hydride, a carbon sheet, or a material having lownuclear charge components. Herein, a material of low nuclear charge is amaterial composed of atoms consisting essentially of atoms having six orfewer protons. The foil is preferably about 10 to 150 microns thick, ismore preferably about 30 to 100 microns thick, and is still morepreferably about 40 to 60 microns thick. In one example, the foil isberyllium with a thickness of about 50 microns. When the protonstraverse through the foil, energy of the protons is lost and the speedof the protons is reduced. Typically, a current is also generated,described infra. Protons moving at the slower speed travel in thesynchrotron with a reduced radius of curvature 266 compared to eitherthe original central beamline 264 or the altered circulating path 265.The reduced radius of curvature 266 path is also referred to herein as apath having a smaller diameter of trajectory or a path having protonswith reduced energy. The reduced radius of curvature 266 is typicallyabout two millimeters less than a radius of curvature of the last passof the protons along the altered proton beam path 265.

The thickness of the material 330 is optionally adjusted to create achange in the radius of curvature, such as about ½, 1, 2, 3, or 4 mmless than the last pass of the protons 265 or original radius ofcurvature 264. The reduction in velocity of the charged particlestransmitting through the material 330 is calculable, such as by usingthe pathlength of the betatron oscillating charged particle beam throughthe material 330 and/or using the density of the material 330. Protonsmoving with the smaller radius of curvature travel between a second pairof blades. In one case, the second pair of blades is physically distinctand/or is separated from the first pair of blades. In a second case, oneof the first pair of blades is also a member of the second pair ofblades. For example, the second pair of blades is the second blade 314and a third blade 316 in the RF cavity system 310. A high voltage DCsignal, such as about 1 to 5 kV, is then applied across the second pairof blades, which directs the protons out of the synchrotron through anextraction magnet 137, such as a Lambertson extraction magnet, into atransport path 268.

Control of acceleration of the charged particle beam path in thesynchrotron with the accelerator and/or applied fields of the turningmagnets in combination with the above described extraction system allowsfor control of the intensity of the extracted proton beam, whereintensity is a proton flux per unit time or the number of protonsextracted as a function of time. For example, when a current is measuredbeyond a threshold, the RF field modulation in the RF cavity system isterminated or reinitiated to establish a subsequent cycle of proton beamextraction. This process is repeated to yield many cycles of proton beamextraction from the synchrotron accelerator.

In another embodiment, instead of moving the charged particles to thematerial 330, the material 330 is mechanically moved to the circulatingcharged particles. Particularly, the material 330 is mechanically orelectromechanically translated into the path of the circulating chargedparticles to induce the extraction process, described supra. In thiscase, the velocity or energy of the circulating charged particle beam iscalculable using the pathlength of the beam path about the center 136 ofthe synchrotron 130 and from the force applied by the bending magnets132.

In either case, because the extraction system does not depend on anychange in magnetic field properties, it allows the synchrotron tocontinue to operate in acceleration or deceleration mode during theextraction process. Stated differently, the extraction process does notinterfere with synchrotron acceleration. In stark contrast, traditionalextraction systems introduce a new magnetic field, such as via ahexapole, during the extraction process. More particularly, traditionalsynchrotrons have a magnet, such as a hexapole magnet, that is offduring an acceleration stage. During the extraction phase, the hexapolemagnetic field is introduced to the circulating path of the synchrotron.The introduction of the magnetic field necessitates two distinct modes,an acceleration mode and an extraction mode, which are mutuallyexclusive in time. The herein described system allows for accelerationand/or deceleration of the proton during the extraction step and tumortreatment without the use of a newly introduced magnetic field, such asby a hexapole magnet.

Charged Particle Beam Intensity Control

Control of applied field, such as a radio-frequency (RF) field,frequency and magnitude in the RF cavity system 310 allows for intensitycontrol of the extracted proton beam, where intensity is extractedproton flux per unit time or the number of protons extracted as afunction of time.

Still referring FIG. 3, the intensity control system 305 is furtherdescribed. In this example, an intensity control feedback loop is addedto the extraction system, described supra. When protons in the protonbeam hit the material 330 electrons are given off from the material 330resulting in a current. The resulting current is converted to a voltageand is used as part of an ion beam intensity monitoring system or aspart of an ion beam feedback loop for controlling beam intensity. Thevoltage is optionally measured and sent to the main controller 110 or toan intensity controller subsystem 340, which is preferably incommunication or under the direction of the main controller 110. Moreparticularly, when protons in the charged particle beam path passthrough the material 330, some of the protons lose a small fraction oftheir energy, such as about one-tenth of a percent, which results in asecondary electron. That is, protons in the charged particle beam pushsome electrons when passing through material 330 giving the electronsenough energy to cause secondary emission. The resulting electron flowresults in a current or signal that is proportional to the number ofprotons going through the target or extraction material 330. Theresulting current is preferably converted to voltage and amplified. Theresulting signal is referred to as a measured intensity signal.

The amplified signal or measured intensity signal resulting from theprotons passing through the material 330 is optionally used inmonitoring the intensity of the extracted protons and is preferably usedin controlling the intensity of the extracted protons. For example, themeasured intensity signal is compared to a goal signal, which ispredetermined in an irradiation of the tumor plan. The differencebetween the measured intensity signal and the planned for goal signal iscalculated. The difference is used as a control to the RF generator.Hence, the measured flow of current resulting from the protons passingthrough the material 330 is used as a control in the RF generator toincrease or decrease the number of protons undergoing betatronoscillation and striking the material 330. Hence, the voltage determinedoff of the material 330 is used as a measure of the orbital path and isused as a feedback control to control the RF cavity system.

In one example, the intensity controller subsystem 340 preferablyadditionally receives input from: (1) a detector 350, which provides areading of the actual intensity of the proton beam and/or (2) anirradiation plan 360. The irradiation plan provides the desiredintensity of the proton beam for each x, y, energy, and/or rotationalposition of the patient/tumor as a function of time. Thus, the intensitycontroller 340 receives the desired intensity from the irradiation plan350, the actual intensity from the detector 350 and/or a measure ofintensity from the material 330, and adjusts the amplitude and/or theduration of application of the applied radio-frequency field in the RFcavity system 310 to yield an intensity of the proton beam that matchesthe desired intensity from the irradiation plan 360.

As described, supra, the protons striking the material 330 is a step inthe extraction of the protons from the synchrotron 130. Hence, themeasured intensity signal is used to change the number of protons perunit time being extracted, which is referred to as intensity of theproton beam. The intensity of the proton beam is thus under algorithmcontrol. Further, the intensity of the proton beam is controlledseparately from the velocity of the protons in the synchrotron 130.Hence, intensity of the protons extracted and the energy of the protonsextracted are independently variable. Still further, the intensity ofthe extracted protons is controllably variable while scanning thecharged particles beam in the tumor from one voxel to an adjacent voxelas a separate hexapole and separated time period from accelerationand/or treatment is not required, as described supra.

For example, protons initially move at an equilibrium trajectory in thesynchrotron 130. An RF field is used to excite or move the protons intoa betatron oscillation. In one case, the frequency of the protons orbitis about 10 MHz. In one example, in about one millisecond or after about10,000 orbits, the first protons hit an outer edge of the targetmaterial 130. The specific frequency is dependent upon the period of theorbit. Upon hitting the material 130, the protons push electrons throughthe foil to produce a current. The current is converted to voltage andamplified to yield a measured intensity signal. The measured intensitysignal is used as a feedback input to control the applied RF magnitudeor RF field. An energy beam sensor, described infra, is optionally usedas a feedback control to the RF field frequency or RF field of the RFfield extraction system 310 to dynamically control, modify, and/or alterthe delivered charge particle beam energy, such as in a continuouspencil beam scanning system operating to treat tumor voxels withoutalternating between an extraction phase and a treatment phase.Preferably, the measured intensity signal is compared to a target signaland a measure of the difference between the measured intensity signaland target signal is used to adjust the applied RF field in the RFcavity system 310 in the extraction system to control the intensity ofthe protons in the extraction step. Stated again, the signal resultingfrom the protons striking and/or passing through the material 130 isused as an input in RF field modulation. An increase in the magnitude ofthe RF modulation results in protons hitting the foil or material 130sooner. By increasing the RF, more protons are pushed into the foil,which results in an increased intensity, or more protons per unit time,of protons extracted from the synchrotron 130.

In another example, a detector 350 external to the synchrotron 130 isused to determine the flux of protons extracted from the synchrotron anda signal from the external detector is used to alter the RF field, RFintensity, RF amplitude, and/or RF modulation in the RF cavity system310. Here the external detector generates an external signal, which isused in a manner similar to the measured intensity signal, described inthe preceding paragraphs. Preferably, an algorithm or irradiation plan360 is used as an input to the intensity controller 340, which controlsthe RF field modulation by directing the RF signal in the betatronoscillation generation in the RF cavity system 310. The irradiation plan360 preferably includes the desired intensity of the charged particlebeam as a function of time and/or energy of the charged particle beam asa function of time, for each patient rotation position, and/or for eachx-, y-position of the charged particle beam.

In yet another example, when a current from material 330 resulting fromprotons passing through or hitting material is measured beyond athreshold, the RF field modulation in the RF cavity system is terminatedor reinitiated to establish a subsequent cycle of proton beamextraction. This process is repeated to yield many cycles of proton beamextraction from the synchrotron accelerator.

In still yet another embodiment, intensity modulation of the extractedproton beam is controlled by the main controller 110. The maincontroller 110 optionally and/or additionally controls timing ofextraction of the charged particle beam and energy of the extractedproton beam.

The benefits of the system include a multi-dimensional scanning system.Particularly, the system allows independence in: (1) energy of theprotons extracted and (2) intensity of the protons extracted. That is,energy of the protons extracted is controlled by an energy controlsystem and an intensity control system controls the intensity of theextracted protons. The energy control system and intensity controlsystem are optionally independently controlled. Preferably, the maincontroller 110 controls the energy control system and the maincontroller 110 simultaneously controls the intensity control system toyield an extracted proton beam with controlled energy and controlledintensity where the controlled energy and controlled intensity areindependently variable and/or continually available as a separateextraction phase and acceleration phase are not required, as describedsupra. Thus the irradiation spot hitting the tumor is under independentcontrol of:

-   -   time;    -   energy;    -   intensity;    -   x-axis position, where the x-axis represents horizontal movement        of the proton beam relative to the patient, and    -   y-axis position, where the y-axis represents vertical movement        of the proton beam relative to the patient.

In addition, the patient is optionally independently translated and/orrotated relative to a translational axis of the proton beam at the sametime.

Beam Transport

The beam transport system 135 is used to move the charged particles fromthe accelerator to the patient, such as via a nozzle in a gantry,described infra.

Charged Particle Energy

The beam transport system 135 optionally includes means for determiningan energy of the charged particles in the charged particle beam. Forexample, an energy of the charged particle beam is determined viacalculation, such as via equation 1, using knowledge of a magnetgeometry and applied magnetic field to determine mass and/or energy.Referring now to equation 1, for a known magnet geometry, charge, q, andmagnetic field, B, the Larmor radius, ρ_(L), or magnet bend radius isdefined as:

$\begin{matrix}{\rho_{L} = {\frac{v_{\bot}}{\Omega_{c}} = \frac{\sqrt{2{Em}}}{qB}}} & \left( {{eq}.\mspace{14mu} 1} \right)\end{matrix}$

where: ν_(⊥) is the ion velocity perpendicular to the magnetic field,Ω_(c) is the cyclotron frequency, q is the charge of the ion, B is themagnetic field, m is the mass of the charge particle, and E is thecharged particle energy. Solving for the charged particle energy yieldsequation 2.

$\begin{matrix}{E = \frac{\left( {\rho_{L}{qB}} \right)^{2}}{2m}} & \left( {{eq}.\mspace{14mu} 2} \right)\end{matrix}$

Thus, an energy of the charged particle in the charged particle beam inthe beam transport system 135 is calculable from the know magnetgeometry, known or measured magnetic field, charged particle mass,charged particle charge, and the known magnet bend radius, which isproportional to and/or equivalent to the Larmor radius.

Nozzle

After extraction from the synchrotron 130 and transport of the chargedparticle beam along the proton beam path 268 in the beam transportsystem 135, the charged particle beam exits through the nozzle system146. In one example, the nozzle system includes a nozzle foil coveringan end of the nozzle system 146 or a cross-sectional area within thenozzle system forming a vacuum seal. The nozzle system includes a nozzlethat expands in x/y-cross-sectional area along the z-axis of the protonbeam path 268 to allow the proton beam 268 to be scanned along thex-axis and y-axis by the vertical control element and horizontal controlelement, respectively. The nozzle foil is preferably mechanicallysupported by the outer edges of an exit port of the nozzle or nozzlesystem 146. An example of a nozzle foil is a sheet of about 0.1 inchthick aluminum foil. Generally, the nozzle foil separates atmospherepressures on the patient side of the nozzle foil from the low pressureregion, such as about 10⁻⁵ to 10⁻⁷ torr region, on the synchrotron 130side of the nozzle foil. The low pressure region is maintained to reducescattering of the circulating charged particle beam in the synchrotron.Herein, the exit foil of the nozzle is optionally the first sheet 760 ofthe charged particle beam state determination system 750, describedinfra.

Charged Particle Control

Referring now to FIG. 4A, FIG. 4B, FIG. 5, FIG. 6A, and FIG. 6B, acharged particle beam control system is described where one or morepatient specific beam control assemblies are removably inserted into thecharged particle beam path proximate the nozzle of the charged particlecancer therapy system 100, where the patient specific beam controlassemblies adjust the beam energy, diameter, cross-sectional shape,focal point, and/or beam state of the charged particle beam to properlycouple energy of the charged particle beam to the individual's specifictumor.

Beam Control Tray

Referring now to FIG. 4A and FIG. 4B, a beam control tray assembly 400is illustrated in a top view and side view, respectively. The beamcontrol tray assembly 400 optionally comprises any of a tray frame 410,a tray aperture 412, a tray handle 420, a tray connector/communicator430, and means for holding a patient specific tray insert 510, describedinfra. Generally, the beam control tray assembly 400 is used to: (1)hold the patient specific tray insert 510 in a rigid location relativeto the beam control tray 400, (2) electronically identify the heldpatient specific tray insert 510 to the main controller 110, and (3)removably insert the patient specific tray insert 510 into an accurateand precise fixed location relative to the charged particle beam, suchas the proton beam path 268 at the nozzle of the charged particle cancertherapy system 100.

For clarity of presentation and without loss of generality, the meansfor holding the patient specific tray insert 510 in the tray frame 410of the beam control tray assembly 400 is illustrated as a set ofrecessed set screws 415. However, the means for holding the patientspecific tray insert 510 relative to the rest of the beam control trayassembly 400 is optionally any mechanical and/or electromechanicalpositioning element, such as a latch, clamp, fastener, clip, slide,strap, or the like. Generally, the means for holding the patientspecific tray insert 510 in the beam control tray 400 fixes the trayinsert and tray frame relative to one another even when rotated alongand/or around multiple axes, such as when attached to a charged particlecancer therapy system 100, nozzle system 146, dynamic gantry nozzle, organtry nozzle, which is an optional element of the nozzle system 146,that moves in three-dimensional space relative to a fixed point in thebeamline, proton beam path 268, and/or a given patient position. Asillustrated in FIG. 4A and FIG. 4B, the recessed set screws 415 fix thepatient specific tray insert 510 into the aperture 412 of the tray frame410. The tray frame 410 is illustrated as circumferentially surroundingthe patient specific tray insert 510, which aids in structural stabilityof the beam control tray assembly 400. However, generally the tray frame410 is of any geometry that forms a stable beam control tray assembly400.

Still referring to FIG. 4A and now referring to FIG. 5 and FIG. 6A, theoptional tray handle 420 is used to manually insert/retract the beamcontrol tray assembly 400 into a receiving element of the gantry nozzle,nozzle system 146, or dynamic gantry nozzle. While the beam control trayassembly 400 is optionally inserted into the charged particle beam path268 at any point after extraction from the synchrotron 130, the beamcontrol tray assembly 400 is preferably inserted into the positivelycharged particle beam proximate the nozzle system 146 or dynamic gantrynozzle as control of the beam shape is preferably done with little spacefor the beam shape to defocus before striking the tumor. Optionally,insertion and/or retraction of the beam control tray assembly 400 issemi-automated, such as in a manner of a digital-video disk playerreceiving a digital-video disk, with a selected auto-load and/or aselected auto-unload feature.

Patient Specific Tray Insert

Referring again to FIG. 5, a system of assembling trays 500 isdescribed. The beam control tray assembly 400 optionally and preferablyhas interchangeable patient specific tray inserts 510, such as a rangeshifter insert 511, a patient specific ridge filter insert 512, anaperture insert 513, a compensator insert 514, or a blank insert 515. Asdescribed, supra, any of the range shifter insert 511, the patientspecific ridge filter insert 512, the aperture insert 513, thecompensator insert 514, or the blank insert 515 after insertion into thetray frame 410 are inserted as the beam control tray assembly 400 intothe positively charged particle beam path 268, such as proximate thenozzle system 146 or dynamic gantry nozzle.

Still referring to FIG. 5, the patient specific tray inserts 510 arefurther described. The patient specific tray inserts comprise acombination of any of: (1) a standardized beam control insert and (2) apatient specific beam control insert. For example, the range shifterinsert or 511 or compensator insert 514 used to control the depth ofpenetration of the charged particle beam into the patient is optionally:(a) a standard thickness of a beam slowing material, such as a firstthickness of Lucite, an acrylic, a clear plastic, and/or a thermoplasticmaterial, (b) one member of a set of members of varying thicknessesand/or densities where each member of the set of members slows thecharged particles in the beam path by a known amount, or (c) is amaterial with a density and thickness designed to slow the chargedparticles by a customized amount for the individual patient beingtreated, based on the depth of the individual's tumor in the tissue, thethickness of intervening tissue, and/or the density of interveningbone/tissue. Similarly, the ridge filter insert 512 used to change thefocal point or shape of the beam as a function of depth is optionally:(1) selected from a set of ridge filters where different members of theset of ridge filters yield different focal depths or (2) customized fortreatment of the individual's tumor based on position of the tumor inthe tissue of the individual. Similarly, the aperture insert is: (1)optionally selected from a set of aperture shapes or (2) is a customizedindividual aperture insert 513 designed for the specific shape of theindividual's tumor. The blank insert 515 is an open slot, but serves thepurpose of identifying slot occupancy, as described infra.

Slot Occupancy/Identification

Referring again to FIG. 4A, FIG. 4B, and FIG. 5, occupancy andidentification of the particular patient specific tray insert 510 intothe beam control tray assembly 400 is described. Generally, the beamcontrol tray assembly 400 optionally contains means for identifying, tothe main controller 110 and/or a treatment delivery control systemdescribed infra, the specific patient tray insert 510 and its locationin the charged particle beam path 268. First, the particular tray insertis optionally labeled and/or communicated to the beam control trayassembly 400 or directly to the main controller 110. Second, the beamcontrol tray assembly 400 optionally communicates the tray type and/ortray insert to the main controller 110. In various embodiments,communication of the particular tray insert to the main controller 110is performed: (1) directly from the tray insert, (2) from the trayinsert 510 to the tray assembly 400 and subsequently to the maincontroller 110, and/or (3) directly from the tray assembly 400.Generally, communication is performed wirelessly and/or via anestablished electromechanical link. Identification is optionallyperformed using a radio-frequency identification label, use of abarcode, or the like, and/or via operator input. Examples are providedto further clarify identification of the patient specific tray insert510 in a given beam control tray assembly 400 to the main controller.

In a first example, one or more of the patient specific tray inserts510, such as the range shifter insert 511, the patient specific ridgefilter insert 512, the aperture insert 513, the compensator insert 514,or the blank insert 515 include an identifier 520 and/or and a firstelectromechanical identifier plug 530. The identifier 520 is optionallya label, a radio-frequency identification tag, a barcode, a2-dimensional bar-code, a matrix-code, or the like. The firstelectromechanical identifier plug 530 optionally includes memoryprogrammed with the particular patient specific tray insert informationand a connector used to communicate the information to the beam controltray assembly 400 and/or to the main controller 110. As illustrated inFIG. 5, the first electromechanical identifier plug 530 affixed to thepatient specific tray insert 510 plugs into a second electromechanicalidentifier plug, such as the tray connector/communicator 430, of thebeam control tray assembly 400, which is described infra.

In a second example, the beam control tray assembly 400 uses the secondelectromechanical identifier plug to send occupancy, position, and/oridentification information related to the type of tray insert or thepatient specific tray insert 510 associated with the beam control trayassembly to the main controller 110. For example, a first tray assemblyis configured with a first tray insert and a second tray assembly isconfigured with a second tray insert. The first tray assembly sendsinformation to the main controller 110 that the first tray assemblyholds the first tray insert, such as a range shifter, and the secondtray assembly sends information to the main controller 110 that thesecond tray assembly holds the second tray insert, such as an aperture.The second electromechanical identifier plug optionally containsprogrammable memory for the operator to input the specific tray inserttype, a selection switch for the operator to select the tray inserttype, and/or an electromechanical connection to the main controller. Thesecond electromechanical identifier plug associated with the beamcontrol tray assembly 400 is optionally used without use of the firstelectromechanical identifier plug 530 associated with the tray insert510.

In a third example, one type of tray connector/communicator 430 is usedfor each type of patient specific tray insert 510. For example, a firstconnector/communicator type is used for holding a range shifter insert511, while a second, third, fourth, and fifth connector/communicatortype is used for trays respectively holding a patient specific ridgefilter insert 512, an aperture insert 513, a compensator insert 514, ora blank insert 515. In one case, the tray communicates tray type withthe main controller. In a second case, the tray communicates patientspecific tray insert information with the main controller, such as anaperture identifier custom built for the individual patient beingtreated.

Tray Insertion/Coupling

Referring now to FIG. 6A and FIG. 6B a beam control insertion process600 is described. The beam control insertion process 600 comprises: (1)insertion of the beam control tray assembly 400 and the associatedpatient specific tray insert 510 into the charged particle beam path 268and/or dynamic gantry nozzle 610, such as into a tray assembly receiver620 and (2) an optional partial or total retraction of beam of the trayassembly receiver 620 into the dynamic gantry nozzle 610.

Referring now to FIG. 6A, insertion of one or more of the beam controltray assemblies 400 and the associated patient specific tray inserts 510into the dynamic gantry nozzle 610 is further described. In FIG. 6A,three beam control tray assemblies, of a possible n tray assemblies, areillustrated, a first tray assembly 402, a second tray assembly 404, anda third tray assembly 406, where n is a positive integer of 1, 2, 3, 4,5 or more. As illustrated, the first tray assembly 402 slides into afirst receiving slot 403, the second tray assembly 404 slides into asecond receiving slot 405, and the third tray assembly 406 slides into athird receiving slot 407. Generally, any tray optionally inserts intoany slot or tray types are limited to particular slots through use of amechanical, physical, positional, and/or steric constraints, such as afirst tray type configured for a first insert type having a first sizeand a second tray type configured for a second insert type having asecond distinct size at least ten percent different from the first size.

Still referring to FIG. 6A, identification of individual tray insertsinserted into individual receiving slots is further described. Asillustrated, sliding the first tray assembly 402 into the firstreceiving slot 403 connects the associated electromechanicalconnector/communicator 430 of the first tray assembly 402 to a firstreceptor 626. The electromechanical connector/communicator 430 of thefirst tray assembly communicates tray insert information of the firstbeam control tray assembly to the main controller 110 via the firstreceptor 626. Similarly, sliding the second tray assembly 404 into thesecond receiving slot 405 connects the associated electromechanicalconnector/communicator 430 of the second tray assembly 404 into a secondreceptor 627, which links communication of the associatedelectromechanical connector/communicator 430 with the main controller110 via the second receptor 627, while a third receptor 628 connects tothe electromechanical connected placed into the third slot 407. Thenon-wireless/direct connection is preferred due to the high radiationlevels within the treatment room and the high shielding of the treatmentroom, which both hinder wireless communication. The connection of thecommunicator and the receptor is optionally of any configuration and/ororientation.

Tray Receiver Assembly Retraction

Referring again to FIG. 6A and FIG. 6B, retraction of the tray receiverassembly 620 relative to a nozzle end 612 of the dynamic gantry nozzle610 is described. The tray receiver assembly 620 comprises a frameworkto hold one or more of the beam control tray assemblies 400 in one ormore slots, such as through use of a first tray receiver assembly side622 through which the beam control tray assemblies 400 are insertedand/or through use of a second tray receiver assembly side 624 used as abackstop, as illustrated holding the plugin receptors configured toreceive associated tray connector/communicators 430, such as the first,second, and third receptors 626, 627, 628. Optionally, the tray receiverassembly 620 retracts partially or completely into the dynamic gantrynozzle 610 using a retraction mechanism 660 configured to alternatelyretract and extend the tray receiver assembly 620 relative to a nozzleend 612 of the gantry nozzle 610, such as along a first retraction track662 and a second retraction track 664 using one or more motors andcomputer control. Optionally the tray receiver assembly 620 is partiallyor fully retracted when moving the gantry, nozzle, and/or gantry nozzle610 to avoid physical constraints of movement, such as potentialcollision with another object in the patient treatment room.

For clarity of presentation and without loss of generality, severalexamples of loading patient specific tray inserts into tray assemblieswith subsequent insertion into an positively charged particle beam pathproximate a gantry nozzle 610 are provided.

In a first example, a single beam control tray assembly 400 is used tocontrol the charged particle beam 268 in the charged particle cancertherapy system 100. In this example, a patient specific range shifterinsert 511, which is custom fabricated for a patient, is loaded into apatient specific tray insert 510 to form a first tray assembly 402,where the first tray assembly 402 is loaded into the third receptor 628,which is fully retracted into the gantry nozzle 610.

In a second example, two beam control assemblies 400 are used to controlthe charged particle beam 268 in the charged particle cancer therapysystem 100. In this example, a patient specific ridge filter 512 isloaded into a first tray assembly 402, which is loaded into the secondreceptor 627 and a patient specific aperture 513 is loaded into a secondtray assembly 404, which is loaded into the first receptor 626 and thetwo associated tray connector/communicators 430 using the first receptor626 and second receptor 627 communicate to the main controller 110 thepatient specific tray inserts 510. The tray receiver assembly 620 issubsequently retracted one slot so that the patient specific ridgefilter 512 and the patient specific aperture reside outside of and atthe nozzle end 612 of the gantry nozzle 610.

In a third example, three beam control tray assemblies 400 are used,such as a range shifter 511 in a first tray inserted into the firstreceiving slot 403, a compensator in a second tray inserted into thesecond receiving slot 405, and an aperture in a third tray inserted intothe third receiving slot 407.

Generally, any patient specific tray insert 510 is inserted into a trayframe 410 to form a beam control tray assembly 400 inserted into anyslot of the tray receiver assembly 620 and the tray assembly is notretracted or retracted any distance into the gantry nozzle 610.

Tomography/Beam State

In one embodiment, the charged particle tomography apparatus is used toimage a tumor in a patient. As current beam positiondetermination/verification is used in both tomography and cancer therapytreatment, for clarity of presentation and without limitation beam statedetermination is also addressed in this section. However, beam statedetermination is optionally used separately and without tomography.

In another example, the charged particle tomography apparatus is used incombination with a charged particle cancer therapy system using commonelements. For example, tomographic imaging of a cancerous tumor isperformed using charged particles generated with an injector,accelerator, and guided with a delivery system that are part of thecancer therapy system, described supra.

In various examples, the tomography imaging system is optionallysimultaneously operational with a charged particle cancer therapy systemusing common elements, allows tomographic imaging with rotation of thepatient, is operational on a patient in an upright, semi-upright, and/orhorizontal position, is simultaneously operational with X-ray imaging,and/or allows use of adaptive charged particle cancer therapy. Further,the common tomography and cancer therapy apparatus elements areoptionally operational in a multi-axis and/or multi-field raster beammode.

In conventional medical X-ray tomography, a sectional image through abody is made by moving one or both of an X-ray source and the X-ray filmin opposite directions during the exposure. By modifying the directionand extent of the movement, operators can select different focal planes,which contain the structures of interest. More modern variations oftomography involve gathering projection data from multiple directions bymoving the X-ray source and feeding the data into a tomographicreconstruction software algorithm processed by a computer. Herein, instark contrast to known methods, the radiation source is a chargedparticle, such as a proton ion beam or a carbon ion beam. A proton beamis used herein to describe the tomography system, but the descriptionapplies to a heavier ion beam, such as a carbon ion beam. Further, instark contrast to known techniques, herein the radiation source ispreferably stationary while the patient is rotated.

Referring now to FIG. 7, an example of a tomography apparatus isdescribed and an example of a beam state determination is described. Inthis example, the tomography system 700 uses elements in common with thecharged particle beam system 100, including elements of one or more ofthe injection system 120, the accelerator 130, a positively chargedparticle beam transport path 268 within a beam transport housing 320 inthe beam transport system 135, the targeting/delivery system 140, thepatient interface module 150, the display system 160, and/or the imagingsystem 170, such as the X-ray imaging system. The scintillation materialis optionally one or more scintillation plates, such as a scintillatingplastic, used to measure energy, intensity, and/or position of thecharged particle beam. For instance, a scintillation material 710 orscintillation plate is positioned behind the patient 730 relative to thetargeting/delivery system 140 elements, which is optionally used tomeasure intensity and/or position of the charged particle beam aftertransmitting through the patient. Optionally, a second scintillationplate or a charged particle induced photon emitting sheet, describedinfra, is positioned prior to the patient 730 relative to thetargeting/delivery system 140 elements, which is optionally used tomeasure incident intensity and/or position of the charged particle beamprior to transmitting through the patient. The charged particle beamsystem 100 as described has proven operation at up to and including 330MeV, which is sufficient to send protons through the body and intocontact with the scintillation material. Particularly, 250 MeV to 330MeV are used to pass the beam through a standard sized patient with astandard sized pathlength, such as through the chest. The intensity orcount of protons hitting the plate as a function of position is used tocreate an image. The velocity or energy of the proton hitting thescintillation plate is also used in creation of an image of the tumor720 and/or an image of the patient 730. The patient 730 is rotated aboutthe y-axis and a new image is collected. Preferably, a new image iscollected with about every one degree of rotation of the patientresulting in about 360 images that are combined into a tomogram usingtomographic reconstruction software. The tomographic reconstructionsoftware uses overlapping rotationally varied images in thereconstruction. Optionally, a new image is collected at about every 2,3, 4, 5, 10, 15, 30, or 45 degrees of rotation of the patient.

Herein, the scintillation material 710 or scintillator is any materialthat emits a photon when struck by a positively charged particle or whena positively charged particle transfers energy to the scintillationmaterial sufficient to cause emission of light. Optionally, thescintillation material emits the photon after a delay, such as influorescence or phosphorescence. However, preferably, the scintillatorhas a fast fifty percent quench time, such as less than 0.0001, 0.001,0.01, 0.1, 1, 10, 100, or 1,000 milliseconds, so that the light emissiongoes dark, falls off, or terminates quickly. Preferred scintillationmaterials include sodium iodide, potassium iodide, cesium iodide, aniodide salt, and/or a doped iodide salt. Additional examples of thescintillation materials include, but are not limited to: an organiccrystal, a plastic, a glass, an organic liquid, a luminophor, and/or aninorganic material or inorganic crystal, such as barium fluoride, BaF₂;calcium fluoride, CaF₂, doped calcium fluoride, sodium iodide, Nal;doped sodium iodide, sodium iodide doped with thallium, Nal(Tl); cadmiumtungstate, CdWO₄; bismuth germanate; cadmium tungstate, CdWO₄; calciumtungstate, CaWO₄; cesium iodide, CsI; doped cesium iodide; cesium iodidedoped with thallium, CsI(Tl); cesium iodide doped with sodium CsI(Na);potassium iodide, KI; doped potassium iodide, gadolinium oxysulfide,Gd₂O₂S; lanthanum bromide doped with cerium, LaBr₃(Ce); lanthanumchloride, LaCl₃; cesium doped lanthanum chloride, LaCl₃(Ce); leadtungstate, PbWO₄; LSO or lutetium oxyorthosilicate (Lu₂SiO₅); LYSO,Lu_(1.8)Y_(0.2)SiO₅(Ce); yttrium aluminum garnet, YAG(Ce); zinc sulfide,ZnS(Ag); and zinc tungstate, ZnWO₄.

In one embodiment, a tomogram or an individual tomogram section image iscollected at about the same time as cancer therapy occurs using thecharged particle beam system 100. For example, a tomogram is collectedand cancer therapy is subsequently performed: without the patient movingfrom the positioning systems, such as in a semi-vertical partialimmobilization system, a sitting partial immobilization system, or the alaying position. In a second example, an individual tomogram slice iscollected using a first cycle of the accelerator 130 and using afollowing cycle of the accelerator 130, the tumor 720 is irradiated,such as within about 1, 2, 5, 10, 15 or 30 seconds. In a third case,about 2, 3, 4, or 5 tomogram slices are collected using 1, 2, 3, 4, ormore rotation positions of the patient 730 within about 5, 10, 15, 30,or 60 seconds of subsequent tumor irradiation therapy.

In another embodiment, the independent control of the tomographicimaging process and X-ray collection process allows simultaneous singleand/or multi-field collection of X-ray images and tomographic imageseasing interpretation of multiple images. Indeed, the X-ray andtomographic images are optionally overlaid to from a hybrid X-ray/protonbeam tomographic image as the patient 730 is optionally in the sameposition for each image.

In still another embodiment, the tomogram is collected with the patient730 in the about the same position as when the patient's tumor istreated using subsequent irradiation therapy. For some tumors, thepatient being positioned in the same upright or semi-upright positionallows the tumor 720 to be separated from surrounding organs or tissueof the patient 730 better than in a laying position. Positioning of thescintillation material 710 behind the patient 730 allows the tomographicimaging to occur while the patient is in the same upright orsemi-upright position.

The use of common elements in the tomographic imaging and in the chargedparticle cancer therapy allows benefits of the cancer therapy, describedsupra, to optionally be used with the tomographic imaging, such asproton beam x-axis control, proton beam y-axis control, control ofproton beam energy, control of proton beam intensity, timing control ofbeam delivery to the patient, rotation control of the patient, andcontrol of patient translation all in a raster beam mode of protonenergy delivery. The use of a single proton or cation beamline for bothimaging and treatment facilitates eases patient setup, reduces alignmentuncertainties, reduces beam sate uncertainties, and eases qualityassurance.

In yet still another embodiment, initially a three-dimensionaltomographic proton based reference image is collected, such as withhundreds of individual rotation images of the tumor 720 and patient 730.Subsequently, just prior to proton treatment of the cancer, just a few2-dimensional control tomographic images of the patient are collected,such as with a stationary patient or at just a few rotation positions,such as an image straight on to the patient, with the patient rotatedabout 45 degrees each way, and/or the patient rotated about 90 degreeseach way about the y-axis. The individual control images are comparedwith the 3-dimensional reference image. An adaptive proton therapy issubsequently performed where: (1) the proton cancer therapy is not usedfor a given position based on the differences between the 3-dimensionalreference image and one or more of the 2-dimensional control imagesand/or (2) the proton cancer therapy is modified in real time based onthe differences between the 3-dimensional reference image and one ormore of the 2-dimensional control images.

Charged Particle State Determination/Verification/Photonic Monitoring

Still referring to FIG. 7, the tomography system 700 is optionally usedwith a charged particle beam state determination system 750, optionallyused as a charged particle verification system. The charged particlestate determination system 750 optionally measures, determines, and/orverifies one of more of: (1) position of the charged particle beam, suchas the treatment beam 269, (2) direction of the treatment beam 269, (3)intensity of the treatment beam 269, (4) energy of the treatment beam269, (5) position, direction, intensity, and/or energy of the chargedparticle beam, such as a residual charged particle beam 267 afterpassing through a sample or the patient 730, and (6) a history of thecharged particle beam.

For clarity of presentation and without loss of generality, adescription of the charged particle beam state determination system 750is described and illustrated separately in FIG. 8 and FIG. 9A; however,as described herein elements of the charged particle beam statedetermination system 750 are optionally and preferably integrated intothe nozzle system 146 and/or the tomography system 700 of the chargedparticle treatment system 100. More particularly, any element of thecharged particle beam state determination system 750 is integrated intothe nozzle system 146, the dynamic gantry nozzle 610, and/or tomographysystem 700, such as a surface of the scintillation material 710 or asurface of a scintillation detector, plate, or system. The nozzle system146 or the dynamic gantry nozzle 610 provides an outlet of the chargedparticle beam from the vacuum tube initiating at the injection system120 and passing through the synchrotron 130 and beam transport system135. Any plate, sheet, fluorophore, or detector of the charged particlebeam state determination system is optionally integrated into the nozzlesystem 146. For example, an exit foil of the nozzle 610 is optionally afirst sheet 760 of the charged particle beam state determination system750 and a first coating 762 is optionally coated onto the exit foil, asillustrated in FIG. 7. Similarly, optionally a surface of thescintillation material 710 is a support surface for a fourth coating792, as illustrated in FIG. 7. The charged particle beam statedetermination system 750 is further described, infra.

Referring now to FIG. 7, FIG. 8, and FIG. 9A, four sheets, a first sheet760, a second sheet 770, a third sheet 780, and a fourth sheet 790 areused to illustrated detection sheets and/or photon emitting sheets upontransmittance of a charged particle beam. Each sheet is optionallycoated with a photon emitter, such as a fluorophore, such as the firstsheet 760 is optionally coated with a first coating 762. Without loss ofgenerality and for clarity of presentation, the four sheets are eachillustrated as units, where the light emitting layer is not illustrated.Thus, for example, the second sheet 770 optionally refers to a supportsheet, a light emitting sheet, and/or a support sheet coated by a lightemitting element. The four sheets are representative of n sheets, wheren is a positive integer.

Referring now to FIG. 7 and FIG. 8, the charged particle beam stateverification system 750 is a system that allows for monitoring of theactual charged particle beam position in real-time without destructionof the charged particle beam. The charged particle beam stateverification system 750 preferably includes a first position element orfirst beam verification layer, which is also referred to herein as acoating, luminescent, fluorescent, phosphorescent, radiance, or viewinglayer. The first position element optionally and preferably includes acoating or thin layer substantially in contact with a sheet, such as aninside surface of the nozzle foil, where the inside surface is on thesynchrotron side of the nozzle foil. Less preferably, the verificationlayer or coating layer is substantially in contact with an outer surfaceof the nozzle foil, where the outer surface is on the patient treatmentside of the nozzle foil. Preferably, the nozzle foil provides asubstrate surface for coating by the coating layer. Optionally, abinding layer is located between the coating layer and the nozzle foil,substrate, or support sheet. Optionally, the position element is placedanywhere in the charged particle beam path. Optionally, more than oneposition element on more than one sheet, respectively, is used in thecharged particle beam path and is used to determine a state property ofthe charged particle beam, as described infra.

Still referring to FIG. 7 and FIG. 8, the coating, referred to as afluorophore, yields a measurable spectroscopic response, spatiallyviewable by a detector or camera, as a result of transmission by theproton beam. The coating is preferably a phosphor, but is optionally anymaterial that is viewable or imaged by a detector where the materialchanges spectroscopically as a result of the charged particle beamhitting or transmitting through the coating or coating layer. A detectoror camera views secondary photons emitted from the coating layer anddetermines a position of a treatment beam 269, which is also referred toas a current position of the charged particle beam or final treatmentvector of the charged particle beam, by the spectroscopic differencesresulting from protons and/or charged particle beam passing through thecoating layer. For example, the camera views a surface of the coatingsurface as the proton beam or positively charged cation beam is beingscanned by the first axis control 143, vertical control, and the secondaxis control 144, horizontal control, beam position control elementsduring treatment of the tumor 720. The camera views the current positionof the charged particle beam or treatment beam 269 as measured byspectroscopic response. The coating layer is preferably a phosphor orluminescent material that glows and/or emits photons for a short periodof time, such as less than 5 seconds for a 50% intensity, as a result ofexcitation by the charged particle beam. The detector observes thetemperature change and/or observe photons emitted from the chargedparticle beam traversed spot. Optionally, a plurality of cameras ordetectors are used, where each detector views all or a portion of thecoating layer. For example, two detectors are used where a firstdetector views a first half of the coating layer and the second detectorviews a second half of the coating layer. Preferably, at least a portionof the detector is mounted into the nozzle system to view the protonbeam position after passing through the first axis and second axiscontrollers 143, 144. Preferably, the coating layer is positioned in theproton beam path 268 in a position prior to the protons striking thepatient 730.

Referring now to FIG. 1 and FIG. 7, the main controller 110, connectedto the camera or detector output, optionally and preferably compares thefinal proton beam position or position of the treatment beam 269 withthe planned proton beam position and/or a calibration reference todetermine if the actual proton beam position or position of thetreatment beam 269 is within tolerance. The charged particle beam statedetermination system 750 preferably is used in one or more phases, suchas a calibration phase, a mapping phase, a beam position verificationphase, a treatment phase, and a treatment plan modification phase. Thecalibration phase is used to correlate, as a function of x-, y-positionof the glowing response the actual x-, y-position of the proton beam atthe patient interface. During the treatment phase, the charged particlebeam position is monitored and compared to the calibration and/ortreatment plan to verify accurate proton delivery to the tumor 720and/or as a charged particle beam shutoff safety indicator. Referringnow to FIG. 10, the position verification system 179 and/or thetreatment delivery control system 112, upon determination of a tumorshift, an unpredicted tumor distortion upon treatment, and/or atreatment anomaly optionally generates and or provides a recommendedtreatment change 1070. The treatment change 1070 is optionally sent outwhile the patient 730 is still in the treatment position, such as to aproximate physician or over the internet to a remote physician, forphysician approval 1072, receipt of which allows continuation of the nowmodified and approved treatment plan.

Example I

Referring now to FIG. 7, a first example of the charged particle beamstate determination system 750 is illustrated using two cation inducedsignal generation surfaces, referred to herein as the first sheet 760and a third sheet 780. Each sheet is described below.

Still referring to FIG. 7, in the first example, the optional firstsheet 760, located in the charged particle beam path prior to thepatient 730, is coated with a first fluorophore coating 762, wherein acation, such as in the charged particle beam, transmitting through thefirst sheet 760 excites localized fluorophores of the first fluorophorecoating 762 with resultant emission of one or more photons. In thisexample, a first detector 812 images the first fluorophore coating 762and the main controller 110 determines a current position of the chargedparticle beam using the image of the fluorophore coating 762 and thedetected photon(s). The intensity of the detected photons emitted fromthe first fluorophore coating 762 is optionally used to determine theintensity of the charged particle beam used in treatment of the tumor720 or detected by the tomography system 700 in generation of a tomogramand/or tomographic image of the tumor 720 of the patient 730. Thus, afirst position and/or a first intensity of the charged particle beam isdetermined using the position and/or intensity of the emitted photons,respectively.

Still referring to FIG. 7, in the first example, the optional thirdsheet 780, positioned posterior to the patient 730, is optionally acation induced photon emitting sheet as described in the previousparagraph. However, as illustrated, the third sheet 780 is a solid statebeam detection surface, such as a detector array. For instance, thedetector array is optionally a charge coupled device, a charge induceddevice, CMOS, or camera detector where elements of the detector arrayare read directly, as does a commercial camera, without the secondaryemission of photons. Similar to the detection described for the firstsheet, the third sheet 780 is used to determine a position of thecharged particle beam and/or an intensity of the charged particle beamusing signal position and/or signal intensity from the detector array,respectively.

Still referring to FIG. 7, in the first example, signals from the firstsheet 760 and third sheet 780 yield a position before and after thepatient 730 allowing a more accurate determination of the chargedparticle beam through the patient 730 therebetween. Optionally,knowledge of the charged particle beam path in the targeting/deliverysystem 740, such as determined via a first magnetic field strengthacross the first axis control 143 or a second magnetic field strengthacross the second axis control 144 is combined with signal derived fromthe first sheet 760 to yield a first vector of the charged particlesprior to entering the patient 730 and/or an input point of the chargedparticle beam into the patient 730, which also aids in: (1) controlling,monitoring, and/or recording tumor treatment and/or (2) tomographydevelopment/interpretation. Optionally, signal derived from use of thethird sheet 780, posterior to the patient 730, is combined with signalderived from tomography system 700, such as the scintillation material710, to yield a second vector of the charged particles posterior to thepatient 730 and/or an output point of the charged particle beam from thepatient 730, which also aids in: (1) controlling, monitoring,deciphering, and/or (2) interpreting a tomogram or a tomographic image.

For clarity of presentation and without loss of generality, detection ofphotons emitted from sheets is used to further describe the chargedparticle beam state determination system 750. However, any of the cationinduced photon emission sheets described herein are alternativelydetector arrays. Further, any number of cation induced photon emissionsheets are used prior to the patient 730 and/or posterior to the patient730, such a 1, 2, 3, 4, 6, 8, 10, or more. Still further, any of thecation induced photon emission sheets are place anywhere in the chargedparticle beam, such as in the synchrotron 130, in the beam transportsystem 135, in the targeting/delivery system 140, the nozzle system 146,in the gantry room, and/or in the tomography system 700. Any of thecation induced photon emission sheets are used in generation of a beamstate signal as a function of time, which is optionally recorded, suchas for an accurate history of treatment of the tumor 720 of the patient730 and/or for aiding generation of a tomographic image.

Example II

Referring now to FIG. 8, a second example of the charged particle beamstate determination system 750 is illustrated using three cation inducedsignal generation surfaces, referred to herein as the second sheet 770,the third sheet 780, and the fourth sheet 790. Any of the second sheet770, the third sheet 780, and the fourth sheet 790 contain any of thefeatures of the sheets described supra.

Still referring to FIG. 8, in the second example, the second sheet 770,positioned prior to the patient 730, is optionally integrated into thenozzle and/or the nozzle system 146, but is illustrated as a separatesheet. Signal derived from the second sheet 770, such as at point A, isoptionally combined with signal from the first sheet 760 and/or state ofthe targeting/delivery system 140 to yield a first vector, v_(1a), frompoint A to point B of the charged particle beam prior to the sample orpatient 730 at a first time, t₁, and a second vector, v_(2a), from pointF to point G of the charged particle beam prior to the sample at asecond time, t₂.

Still referring to FIG. 8, in the second example, the third sheet 780and the fourth sheet 790, positioned posterior to the patient 730, areoptionally integrated into the tomography system 700, but areillustrated as a separate sheets. Signal derived from the third sheet780, such as at point D, is optionally combined with signal from thefourth sheet 790 and/or signal from the tomography system 700 to yield afirst vector, v_(1b), from point C₂ to point D and/or from point D topoint E of the charged particle beam posterior to the patient 730 at thefirst time, t₁, and a second vector, v_(2a), such as from point H topoint I of the charged particle beam posterior to the sample at a secondtime, t₂. Signal derived from the third sheet 780 and/or from the fourthsheet 790 and the corresponding first vector at the second time, t₂, isused to determine an output point, C₂, which may and often does differfrom an extension of the first vector, v_(1a), from point A to point Bthrough the patient to a non-scattered beam path of point C₁. Thedifference between point C₁ and point C₂ and/or an angle, a, between thefirst vector at the first time, v_(1a), and the first vector at thesecond time, v_(1b), is used to determine/map/identify, such as viatomographic analysis, internal structure of the patient 730, sample,and/or the tumor 720, especially when combined with scanning the chargedparticle beam in the x/y-plane as a function of time, such asillustrated by the second vector at the first time, v_(2a), and thesecond vector at the second time, v_(2b), forming angle β and/or withrotation of the patient 730, such as about the y-axis, as a function oftime.

Still referring to FIG. 8, multiple detectors/detector arrays areillustrated for detection of signals from multiple sheets, respectively.However, a single detector/detector array is optionally used to detectsignals from multiple sheets, as further described infra. Asillustrated, a set of detectors 810 is illustrated, including a seconddetector 814 imaging the second sheet 770, a third detector 816 imagingthe third sheet 780, and a fourth detector 818 imaging the fourth sheet790. Any of the detectors described herein are optionally detectorarrays, are optionally coupled with any optical filter, and/oroptionally use one or more intervening optics to image any of the foursheets 760, 770, 780, 790. Further, two or more detectors optionallyimage a single sheet, such as a region of the sheet, to aid opticalcoupling, such as F-number optical coupling.

Still referring to FIG. 8, a vector of the charged particle beam isdetermined. Particularly, in the illustrated example, the third detector816, determines, via detection of secondary emitted photons, that thecharged particle beam transmitted through point D and the fourthdetector 818 determines that the charged particle beam transmittedthrough point E, where points D and E are used to determine the firstvector at the second time, v_(1b), as described supra. To increaseaccuracy and precision of a determined vector of the charged particlebeam, a first determined beam position and a second determined beamposition are optionally and preferably separated by a distance, d₁, suchas greater than 0.1, 0.5, 1, 2, 3, 5, 10, or more centimeters. A supportelement 752 is illustrated that optionally connects any two or moreelements of the charged particle beam state determination system 750 toeach other and/or to any element of the charged particle beam system100, such as a rotating platform 756 used to co-rotate the patient 730and any element of the tomography system 700.

Example III

Still referring to FIG. 9A, a third example of the charged particle beamstate determination system 750 is illustrated in an integratedtomography-cancer therapy system 900.

Referring to FIG. 9A, multiple sheets and multiple detectors areillustrated determining a charged particle beam state prior to thepatient 730. As illustrated, a first camera 812 spatially images photonsemitted from the first sheet 760 at point A, resultant from energytransfer from the passing charged particle beam, to yield a first signaland a second camera 814 spatially images photons emitted from the secondsheet 770 at point B, resultant from energy transfer from the passingcharged particle beam, to yield a second signal. The first and secondsignals allow calculation of the first vector, v_(1a), with a subsequentdetermination of an entry point 732 of the charged particle beam intothe patient 730. Determination of the first vector, v_(1a), isoptionally supplemented with information derived from states of themagnetic fields about the first axis control 143, the vertical control,and the second axis control 144, the horizontal axis control, asdescribed supra.

Still referring to FIG. 9A, the charged particle beam statedetermination system is illustrated with multiple resolvable wavelengthsof light emitted as a result of the charged particle beam transmittingthrough more than one molecule type, light emission center, and/orfluorophore type. For clarity of presentation and without loss ofgenerality a first fluorophore in the third sheet 780 is illustrated asemitting blue light, b, and a second fluorophore in the fourth sheet 790is illustrated as emitting red light, r, that are both detected by thethird detector 816. The third detector is optionally coupled with anywavelength separation device, such as an optical filter, grating, orFourier transform device. For clarity of presentation, the system isdescribed with the red light passing through a red transmission filterblocking blue light and the blue light passing through a bluetransmission filter blocking red light. Wavelength separation, using anymeans, allows one detector to detect a position of the charged particlebeam resultant in a first secondary emission at a first wavelength, suchas at point C, and a second secondary emission at a second wavelength,such as at point D. By extension, with appropriate optics, one camera isoptionally used to image multiple sheets and/or sheets both prior to andposterior to the sample. Spatial determination of origin of the redlight and the blue light allow calculation of the first vector at thesecond time, v_(1b), and an actual exit point 736 from the patient 730as compared to a non-scattered exit point 734 from the patient 730 asdetermined from the first vector at the first time, v_(1a).

Still referring to FIG. 9A and referring now to FIG. 9B, the integratedtomography-cancer therapy system 900 is illustrated with an optionalconfiguration of elements of the charged particle beam statedetermination system 750 being co-rotatable with the nozzle system 146of the cancer therapy system 100. More particularly, in one case sheetsof the charged particle beam state determination system 750 positionedprior to, posterior to, or on both sides of the patient 730 co-rotatewith the scintillation material 710 about any axis, such as illustratedwith rotation about the y-axis. Further, any element of the chargedparticle beam state determination system 750, such as a detector,two-dimensional detector, multiple two-dimensional detectors, and/orlight coupling optic move as the gantry moves, such as along a commonarc of movement of the nozzle system 146 and/or at a fixed distance tothe common arc. For instance, as the gantry moves, a monitoring camerapositioned on the opposite side of the tumor 720 or patient 730 from thenozzle system 146 maintains a position on the opposite side of the tumor720 or patient 730. In various cases, co-rotation is achieved byco-rotation of the gantry of the charged particle beam system and asupport of the patient, such as the rotatable platform 756, which isalso referred to herein as a movable or dynamically positionable patientplatform, patient chair, or patient couch. Mechanical elements, such asthe support element 752 affix the various elements of the chargedparticle beam state determination system 750 relative to each other,relative to the nozzle system 146, and/or relative to the patient 730.For example, the support elements 752 maintain a second distance, d₂,between a position of the tumor 720 and the third sheet 780 and/ormaintain a third distance, d₃, between a position of the third sheet 780and the scintillation material 710. More generally, support elements 752optionally dynamically position any element about the patient 730relative to one another or in x,y,z-space in a patientdiagnostic/treatment room, such as via computer control.

Referring now to FIG. 9B, positioning the nozzle system 146 of a gantry960 on an opposite side of the patient 730 from a detection surface,such as the scintillation material 710, in a gantry movement system 950is described. Generally, in the gantry movement system 950, as thegantry 960 rotates about an axis the nozzle/nozzle system 146 and/or oneor more magnets of the beam transport system 135 are repositioned. Asillustrated, the nozzle system 146 is positioned by the gantry 960 in afirst position at a first time, t₁, and in a second position at a secondtime, t₂, where n positions are optionally possible. Anelectromechanical system, such as a patient table, patient couch,patient couch, patient rotation device, and/or a scintillation plateholder maintains the patient 730 between the nozzle system 146 and thescintillation material 710 of the tomography system 700. Similarly, notillustrated for clarity of presentation, the electromechanical systemmaintains a position of the third sheet 780 and/or a position of thefourth sheet 790 on a posterior or opposite side of the patient 730 fromthe nozzle 1system 46 as the gantry 960 rotates or moves the nozzlesystem 146. Similarly, the electromechanical system maintains a positionof the first sheet 760 or first screen and/or a position of the secondsheet 770 or second screen on a same or prior side of the patient 730from the nozzle system 146 as the gantry 960 rotates or moves the nozzlesystem 146. As illustrated, the electromechanical system optionallypositions the first sheet 760 in the positively charged particle path atthe first time, t₁, and rotates, pivots, and/or slides the first sheet760 out of the positively charged particle path at the second time, t₂.The electromechanical system is optionally and preferably connected tothe main controller 110 and/or the treatment delivery control system112. The electromechanical system optionally maintains a fixed distancebetween: (1) the patient and the nozzle system 146 or the nozzle end612, (2) the patient 730 or tumor 720 and the scintillation material710, and/or (3) the nozzle system 146 and the scintillation material 710at a first treatment time with the gantry 960 in a first position and ata second treatment time with the gantry 960 in a second position. Use ofa common charged particle beam path for both imaging and cancertreatment and/or maintaining known or fixed distances between beamtransport/guide elements and treatment and/or detection surface enhancesprecision and/or accuracy of a resultant image and/or tumor treatment,such as described supra. Optionally, the gantry comprises acounterweight on an opposite side of an axis of rotation of the gantry.Ideally, the counterweight results in no net moment of thegantry-counterweight system about the axis of rotation of the gantry. Inpractice, the counterweight mass and distance forces, herein allelements on one side of the axis or rotation of the gantry, is within10, 5, 2, 1, 0.1, or 0.01 percent of the mass and distance forces of thesection of the gantry on the opposite side of the axis of rotation ofthe gantry.

System Integration

Any of the systems and/or elements described herein are optionallyintegrated together and/or are optionally integrated with known systems.

Treatment Delivery Control System

Referring now to FIG. 10, a centralized charged particle treatmentsystem 1000 is illustrated. Generally, once a charged particle therapyplan is devised, a central control system or treatment delivery controlsystem 112 is used to control sub-systems while reducing and/oreliminating direct communication between major subsystems. Generally,the treatment delivery control system 112 is used to directly controlmultiple subsystems of the cancer therapy system without directcommunication between selected subsystems, which enhances safety,simplifies quality assurance and quality control, and facilitatesprogramming. For example, the treatment delivery control system 112directly controls one or more of: an imaging system, a positioningsystem, an injection system, a radio-frequency quadrupole system, alinear accelerator, a ring accelerator or synchrotron, an extractionsystem, a beam line, an irradiation nozzle, a gantry, a display system,a targeting system, and a verification system. Generally, the controlsystem integrates subsystems and/or integrates output of one or more ofthe above described cancer therapy system elements with inputs of one ormore of the above described cancer therapy system elements.

Still referring to FIG. 10, an example of the centralized chargedparticle treatment system 1000 is provided. Initially, a doctor, such asan oncologist, prescribes 1010 or recommends tumor therapy using chargedparticles. Subsequently, treatment planning 1020 is initiated and outputof the treatment planning step 1020 is sent to an oncology informationsystem 1030 and/or is directly sent to the treatment delivery system112, which is an example of the main controller 110.

Still referring to FIG. 10, the treatment planning step 1020 is furtherdescribed. Generally, radiation treatment planning is a process where ateam of oncologist, radiation therapists, medical physicists, and/ormedical dosimetrists plan appropriate charged particle treatment of acancer in a patient. Typically, one or more imaging systems 170 are usedto image the tumor and/or the patient, described infra. Planning isoptionally: (1) forward planning and/or (2) inverse planning. Cancertherapy plans are optionally assessed with the aid of a dose-volumehistogram, which allows the clinician to evaluate the uniformity of thedose to the tumor and surrounding healthy structures. Typically,treatment planning is almost entirely computer based using patientcomputed tomography data sets using multimodality image matching, imagecoregistration, or fusion.

Forward Planning

In forward planning, a treatment oncologist places beams into aradiotherapy treatment planning system including: how many radiationbeams to use and which angles to deliver each of the beams from. Thistype of planning is used for relatively simple cases where the tumor hasa simple shape and is not near any critical organs.

Inverse Planning

In inverse planning, a radiation oncologist defines a patient's criticalorgans and tumor and gives target doses and importance factors for each.Subsequently, an optimization program is run to find the treatment planwhich best matches all of the input criteria.

Oncology Information System

Still referring to FIG. 10, the oncology information system 1030 isfurther described. Generally, the oncology information system 1030 isone or more of: (1) an oncology-specific electronic medical record,which manages clinical, financial, and administrative processes inmedical, radiation, and surgical oncology departments; (2) acomprehensive information and image management system; and (3) acomplete patient information management system that centralizes patientdata; and (4) a treatment plan provided to the charged particle beamsystem 100, main controller 110, and/or the treatment delivery controlsystem 112. Generally, the oncology information system 1030 interfaceswith commercial charged particle treatment systems.

Safety System/Treatment Delivery Control System

Still referring to FIG. 10, the treatment delivery control system 112 isfurther described. Generally, the treatment delivery control system 112receives treatment input, such as a charged particle cancer treatmentplan from the treatment planning step 1020 and/or from the oncologyinformation system 1030 and uses the treatment input and/or treatmentplan to control one or more subsystems of the charged particle beamsystem 100. The treatment delivery control system 112 is an example ofthe main controller 110, where the treatment delivery control systemreceives subsystem input from a first subsystem of the charged particlebeam system 100 and provides to a second subsystem of the chargedparticle beam system 100: (1) the received subsystem input directly, (2)a processed version of the received subsystem input, and/or (3) acommand, such as used to fulfill requisites of the treatment planningstep 1020 or direction of the oncology information system 1030.Generally, most or all of the communication between subsystems of thecharged particle beam system 100 go to and from the treatment deliverycontrol system 112 and not directly to another subsystem of the chargedparticle beam system 100. Use of a logically centralized treatmentdelivery control system has many benefits, including: (1) a singlecentralized code to maintain, debug, secure, update, and to performchecks on, such as quality assurance and quality control checks; (2) acontrolled logical flow of information between subsystems; (3) anability to replace a subsystem with only one interfacing code revision;(4) room security; (5) software access control; (6) a single centralizedcontrol for safety monitoring; and (7) that the centralized code resultsin an integrated safety system 1040 encompassing a majority or all ofthe subsystems of the charged particle beam system 100. Examples ofsubsystems of the charged particle cancer therapy system 100 include: aradio frequency quadrupole 1050, a radio frequency quadrupole linearaccelerator, the injection system 120, the synchrotron 130, theaccelerator system 131, the extraction system 134, any controllable ormonitorable element of the beam line 268, the targeting/delivery system140, the nozzle system 146, a gantry 1060 or an element of the gantry1060, the patient interface module 150, a patient positioner 152, thedisplay system 160, the imaging system 170, a patient positionverification system 179, any element described supra, and/or anysubsystem element. A treatment change 1070 at time of treatment isoptionally computer generated with or without the aid of a technician orphysician and approved while the patient is still in the treatment room,in the treatment chair, and/or in a treatment position.

Safety

Referring now to FIG. 11, a redundant safety system 1100 is described.In one optional and preferred embodiment, the charged particle beamsystem 100 includes redundant systems for determination of one or moreof: (1) beam position, (2) beam direction, (3) beam intensity, (4) beamenergy, and (5) beam shape. The redundant safety system 1000 is furtherdescribed herein.

Beam Position

A beam positioning system 1110 or beam positiondetermination/verification system is linked to the main controller 100or treatment delivery control system 112. The beam positioning system1110 includes any electromechanical system, optical system, and/orcalculation for determining a current position of the charged particlebeam. In a first case, after calibration, thescanning/targeting/delivery system 140 uses x/y-positioning magnets,such as in the first axis control 143 and the second axis control 144,to position the charged particle beam. In a second case, a photonicemission position system 1114 is used to measure a position of thecharged particle beam, where the photonic emission system 1114 uses asecondary emission of a photon upon passage of the charged particlebeam, such as described supra for the first sheet 760, the second sheet770, the third sheet 780, and the fourth sheet 790. In a third a case, ascintillation positioning system 1116, such as via use of a detectorelement in the tomography system 700, is used to measure a position ofthe charged particle beam. Any permutation or combination of the threecases described herein yield multiple or redundant measures of thecharged particle beam position and therefrom one or more measures of acharged particle beam vector during a period of time.

Beam Intensity

A beam intensity system 1120 or beam intensitydetermination/verification system is linked to the main controller 100or treatment delivery control system 112. Herein, intensity is a numberof positively charged particles passing a point or plane as a functionof time. The beam intensity system 1110 includes any electromechanicalsystem, optical system, and/or calculation for determining a currentintensity of the charged particle beam. In a first case, the extractionsystem 134 uses an electron emission system 1122, such as a secondaryemission of electrons upon passage of the charged particle beam throughthe extraction material 330, to determine an intensity of the chargedparticle beam. In a second case, the duration of the applied RF-fieldand/or a magnitude of the RF-field applied in the RF-cavity system 310is used to calculate the intensity of the charged particle beam, asdescribed supra. In a third case, a photon emission system 1124, such asa magnitude of a signal representing the emitted photons from thephotonic emission system 1114, is used to measure the intensity of thecharged particle beam. In a fourth case, a scintillation intensitydetermination system 1126 measures the intensity of the charged particlebeam, such as with a detector of the tomography system 700.

Beam Energy

A beam energy system 1130 or beam energy determination/verificationsystem is linked to the main controller 100 or treatment deliverycontrol system 112. Herein, energy is optionally referred to as avelocity of the positively charged particles passing a point, whereenergy is dependent upon mass of the charged particles. The beam energysystem 1110 includes any electromechanical system, optical system,and/or calculation for determining a current energy of the chargedparticle beam. In a first case, an RF-cavity energy system 1132calculates an energy of the charged particles in the charged particlebeam, such as via relating a period of an applied RF-field in theRF-cavity system 310 to energy, such as described supra. In a secondcase, an in-line energy system 1134 is used to measure a value relatedto beam energy, such as described above in equations 1 and 2. In a thirdcase, a scintillation energy system 1136 is used to measure an energy ofthe charged particle beam, such as via use of a detector in thetomography system 700.

Optionally and preferably, two or moremeasures/determination/calculations of a beam state property, such asposition, direction, shape, intensity, and/or energy yield a redundantmeasure of the measured state for use in a beam safety system and/or anemergency beam shut-off system. Optionally and preferably, the two ormore measures of a beam state property are used to enhance precisionand/or accuracy of determination of the beam state property throughstatistical means. Optionally and preferably, any of the beam stateproperties are recorded and/or used to predict a future state, such asposition, intensity, and/or energy of the charged particle beam, such asin a neighboring voxel in the tumor 720 adjacent to a currently treatedvoxel in the tumor 720 of the patient 730.

Motion Control System

Referring now to FIG. 12A, a motion control system 1200 is illustrated.Generally, the motion control system controls, as a function of time:(1) the charged particle beam state, such as direction, shape,intensity, and/or energy; (2) a patient position; and/or (3) an imagingsystem. The motion control system 1200 is further described herein.

The motion control system 1200 optionally uses one or more patientinterface controllers 1210, such as an external motion control system1212, an internal motion control system 1214, an external pendant 1216,and an internal pendant 1218. As illustrated, the patient 730 is in atreatment room 1222 separated from a control room 1224 by a radiationshielded wall 1226 and a window 1228 or view port. The external motioncontrol system 1212, internal motion control system 1214, externalpendant 1216, and the internal pendant 1218 optionally and preferablycontrol the same elements, allowing one or more operators control of themotion control system. Any of the patient interface controllers 1210 areoptionally linked to each other or to the main controller 110 viawireless means; however, interconnections of the patient interfacecontrollers 1210 to each other and/or to the main controller 110 arepreferably hard-wired due to high radiation levels in the treatment room1222. For example, the external pendant 1216 is linked via a firstcommunication bundle 1217 to the external motion control system 1212,the internal pendant 1218 is linked via a second communication bundle1219 to the internal motion system controller 1214, and/or the internaland external motion control system 1212, 1214 are hardwired to eachother and/or to the main controller 110. The first communication bundle1217 and the second communication bundle 1219 optionally provide powerto the external pendant 1216 and the internal pendant 1218,respectively. The second communication bundle 1219 is optionallyattached and/or linked to the nozzle system 146 and/or an element of thebeam transport system 135 to keep the second communication bundle: (1)accessible to the operator, (2) out of the way of the charged particlebeam, and/or (3) out of the way of motion of the patient 730/patientinterface module 150. Optionally, a patient specific treatment module1290 is replaceably plugged into and/or attached to the one or morepatient interface controllers 1210, such as the internal pendant 1218.The patient treatment module 1290 optionally contains one or more of:image information about the individual being treated and/orpreprogrammed treatment steps for the individual being treated, wheresome controls of the charged particle beam system 100, such as relatedto charged particle beam aiming and/or patient positioning areoptionally limited by the preprogrammed treatment steps of anyinformation/hardware of the patient treatment module. Optionally, theinternal pendant 1218 replaceably mounts to a bracket, hook, slot, orthe like mounted on the nozzle system 146 or the beam transport system135 to maintain close access for the operator when not in use. Theoperator optionally and preferably uses, at times, a mobile controlpendant, such as the external pendant 1216 or the internal pendant 1218.The operator optionally has access via a direct doorway 1229 betweentreatment room 1222 and the control room 1224. Use of multiple patientinterface controllers 1210 gives flexibility to an operator of themotion control system 1200, as further described infra.

Example I

In a first example, the operator of the motion control system 1200 isoptionally seated or standing by a fixed position controller, such as bya desktop or wall mounted version of the external motion control system1212. Similarly, the internal motion control system 1214 is optionallyand preferably in a fixed position, such as at a desktop system or wallmounted system.

Example II

In a second example, the operator optionally and preferably uses, attimes, the external pendant 1216, which allows the operator to view thepatient 730, the beam transport system 135, beam path housing 139, thepatient interface module 150, and/or the imaging system 170 through thesafety of the window 1228. Optionally and preferably, the beam transportsystem 135 is configured with one or more mechanical stops to not allowthe charged particle beam to aim at the window 1228, thereby providing acontinuously safe zone for the operator. Direct viewing and control ofthe charged particle beam system 100, imaging system 170, and/ortomography system 700 relative to the current position of the patient730 allows backup security in terms of unexpected aim of a treatmentbeam and/or movement of the patient 730. Controlled elements and/orprocesses of the charged particle beam system 100 via the pendants isfurther described, infra.

Example III

In a third example, the operator optionally and preferably uses, attimes, the internal pendant 1218, which allows the operator both directaccess and view of: (1) the patient 730, (2) the beam transport system135, (3) the patient interface module 150, and/or (4) the imaging system170, which has multiple benefits. In a first case, the operator canadjust any element of the patient interface module 150, such as apatient positioning device and/or patient motion constraint device. In asecond case, the operator has access to load/unload: (1) the patientspecific tray insert 510 into the beam control tray assembly 400; (2)the beam control tray assembly 400 into the nozzle system 146, asdescribed supra; and/or (3) any imaging material, such as an X-ray film.

Example IV

In a fourth example, the gantry comprises at least two imaging devices,where each imaging device moves with rotation of the gantry and wherethe two imaging devices view the patient 730 along two axes forming anangle of ninety degrees, in the range of eighty-five to ninety-fivedegrees, and/or in the range of seventy-five to one hundred fivedegrees.

Pendant

Referring still to FIG. 12A and referring now to FIG. 12B, a pendantsystem 1250, such as a system using the external pendant 1216 and/orinternal pendent 1218 is described. In a first case, the externalpendant 1216 and internal pendant 1218 have identical controls. In asecond case, controls and/or functions of the external pendant 1216intersect with controls and/or function of the internal pendant 1218.Particular processes and functions of the internal pendant 1218 areprovided below, without loss of generality, to facilitate description ofthe external and internal pendants 1216, 1218. The internal pendant 1218optionally comprises any number of input buttons, screens, tabs,switches, or the like. The pendant system 1250 is further described,infra.

Example I

Referring now to FIG. 12B, a first example of the internal pendant 1218is provided. In this example, in place of and/or in conjunction with aparticular button, such as a first button 1270 and/or a second button1280, moving or selecting a particular element, processes are optionallydescribed, displayed, and/or selected within a flow process control unit1260 of the internal pendant 1218. For example, one or more displayscreens and/or printed elements describe a set of processes, such as afirst process 1261, a second process 1263, a third process 1265, and afourth process 1267 and are selected through a touch screen selectionprocess or via a selection button, such as a corresponding firstselector 1262, second selector 1264, third selector 1266, and fourthselector 1268. Optionally, a next button a-priori or previouslyscheduled in treatment planning to select a next process is lit up onthe pendant.

Example II

Referring still to FIG. 12B, a second example of the internal pendant1218 is provided. In this example, one or more buttons or the like, suchas the first button 1270, and/or one or more of the processes, such asthe first process 1261, are customizable, such as to an often repeatedset of steps and/or to steps particular to treatment of a given patient730. The customizable element, such as the first button 1270, isoptionally further setup, programmed, controlled, and/or limited viainformation received from the patient treatment module 1290. In thisexample, a button, or the like, operates as an emergency all stopbutton, which at the minimum shuts down the accelerator, redirects thecharged particle beam to a beam stop separate from a path through thepatient, or stops moving the patient 730.

Example III

In place of and/or in conjunction with a particular button, such as thefirst button 1270 and/or the second button 1280, moving or selecting aparticular element, processes are optionally described, displayed,and/or selected within a flow process control unit 1260 of the internalpendant 1218. For example, one or more display screens and/or printedelements describe a set of processes, such as a first process 1261, asecond process 1263, a third process 1265, and a fourth process 1267 andare selected through a touch screen selection process or via a selectionbutton, such as a corresponding first selector 1262, second selector1264, third selector 1266, and fourth selector 1268.

Referring still to FIG. 12B, as illustrated for clarity and without lossor generalization, the first process 1261 and/or a display screenthereof operable by the first selector 1262 selects, initiates, and/orprocesses a set of steps related to the beam control tray assembly 400.For instance, the first selector 1262, functioning as a tray button: (1)confirms presence a requested patient specific tray insert 510 in arequested tray assembly; (2) confirms presence of a request patientspecific tray insert in a receiving slot of the control tray assembly;(3) retracts the beam control tray assembly 400 into the nozzle system146; (4) confirms information using the electromechanical identifierplug, such as the first electromechanical identifier plug 530; (5)confirms information using the patient treatment module 1290; and/or (6)performs a set of commands and/or movements identified with the firstselector 1262 and/or identified with the first process 1261. Similarly,the second process 1263, corresponding to a second process displayscreen and/or the second selector 1264; the third process 1265,corresponding to a third process display screen and/or the thirdselector 1266; and the fourth process 1267, corresponding to a fourthprocess display screen and/or the fourth selector 1268 control and/oractivate a set of actions, movements, and/or commands related topositioning the patient 730, imaging the patient 730, and treating thepatient 730, respectively.

Integrated Cancer Treatment-Imaging System

One or more imaging systems 170 are optionally used in a fixed positionin a cancer treatment room and/or are moved with a gantry system, suchas a gantry system supporting: a portion of the beam transport system135, the targeting/delivery control system 140, and/or moving orrotating around a patient positioning system, such as in the patientinterface module. Without loss of generality and to facilitatedescription of the invention, examples follow of an integrated cancertreatment-imaging system. In each system, the beam transport system 135and/or the nozzle system 146 indicates a positively charged beam path,such as from the synchrotron, for tumor treatment and/or for tomography,as described supra.

Example I

Referring now to FIG. 13A, a first example of an integrated cancertreatment-imaging system 1300 is illustrated. In this example, thecharged particle beam system 100 is illustrated with a treatment beam269 directed to the tumor 720 of the patient 730 along the z-axis. Alsoillustrated is a set of imaging sources 1310, imaging system elements,and/or paths therefrom and a set of detectors 1320 corresponding to arespective element of the set of imaging sources 1310. Herein, the setof imaging sources 1310 are referred to as sources, but are optionallyany point or element of the beam train prior to the tumor or a centerpoint about which the gantry rotates. Hence, a given imaging source isoptionally a dispersion element used to form cone beam. As illustrated,a first imaging source 1312 yields a first beam path 1332 and a secondimaging source 1314 yields a second beam path 1334, where each pathpasses at least into the tumor 720 and optionally and preferably to afirst detector array 1322 and a second detector array 1324,respectively, of the set of detectors 1320. Herein, the first beam path1332 and the second beam path 1334 are illustrated as forming a ninetydegree angle, which yields complementary images of the tumor 720 and/orthe patient 730. However, the formed angle is optionally any angle fromten to three hundred fifty degrees. Herein, for clarity of presentation,the first beam path 1332 and the second beam path 1334 are illustratedas single lines, which optionally is an expanding, uniform diameter, orfocusing beam. Herein, the first beam path 1332 and the second beam path1334 are illustrated in transmission mode with their respective sourcesand detectors on opposite sides of the patient 730. However, a beam pathfrom a source to a detector is optionally a scattered path and/or adiffuse reflectance path. Optionally, one or more detectors of the setof detectors 1320 are a single detector element, a line of detectorelements, or preferably a two-dimensional detector array. Use of twotwo-dimensional detector arrays is referred to herein as atwo-dimensional-two-dimensional imaging system or a 2D-2D imagingsystem.

Still referring to FIG. 13A, the first imaging source 1312 and thesecond imaging source 1314 are illustrated at a first position and asecond position, respectively. Each of the first imaging source 1312 andthe second imaging source 1322 optionally: (1) maintain a fixedposition; (2) provide the first beam path(s) 1332 and the second beampath(s) 1334, respectively, such as to an imaging system detector 1340or through the gantry 960, such as through a set of one or more holes orslits; (3) provide the first beam path 1332 and the second beam path1334, respectively, off axis to a plane of movement of the nozzle system146; (4) move with the gantry 960 as the gantry 960 rotates about atleast a first axis; (5) move with a secondary imaging system independentof movement of the gantry, as described supra; and/or (6) represent anarrow cross-diameter section of an expanding cone beam path.

Still referring to FIG. 13A, the set of detectors 1320 are illustratedas coupling with respective elements of the set of sources 1310. Eachmember of the set of detectors 1320 optionally and preferablyco-moves/and/or co-rotates with a respective member of the set ofsources 1310. Thus, if the first imaging source 1312 is staticallypositioned, then the first detector 1322 is optionally and preferablystatically positioned. Similarly, to facilitate imaging, if the firstimaging source 1312 moves along a first arc as the gantry 960 moves,then the first detector 1322 optionally and preferably moves along thefirst arc or a second arc as the gantry 960 moves, where relativepositions of the first imaging source 1312 on the first arc, a pointthat the gantry 960 moves about, and relative positions of the firstdetector 1322 along the second arc are constant. To facilitate theprocess, the detectors are optionally mechanically linked, such as witha mechanical support to the gantry 960 in a manner that when the gantry960 moves, the gantry moves both the source and the correspondingdetector. Optionally, the source moves and a series of detectors, suchas along the second arc, capture a set of images. As illustrated in FIG.13A, the first imaging source 1312, the first detector array 1322, thesecond imaging source 1314, and the second detector array 1324 arecoupled to a rotatable imaging system support 1812, which optionallyrotates independently of the gantry 960 as further described infra. Asillustrated in FIG. 13B, the first imaging source 1312, the firstdetector array 1322, the second imaging source 1314, and the seconddetector array 1324 are coupled to the gantry 960, which in this case isa rotatable gantry.

Still referring to FIG. 13A, optionally and preferably, elements of theset of sources 1310 combined with elements of the set of detectors 1320are used to collect a series of responses, such as one source and onedetector yielding a detected intensity and rotatable imaging systemsupport 1812 preferably a set of detected intensities to form an image.For instance, the first imaging source 1312, such as a first X-raysource or first cone beam X-ray source, and the first detector 1322,such as an X-ray film, digital X-ray detector, or two-dimensionaldetector, yield a first X-ray image of the patient at a first time and asecond X-ray image of the patient at a second time, such as to confirm amaintained location of a tumor or after movement of the gantry and/ornozzle system 146 or rotation of the patient 730. A set of n imagesusing the first imaging source 1312 and the first detector 1322collected as a function of movement of the gantry and/or the nozzlesystem 146 supported by the gantry and/or as a function of movementand/or rotation of the patient 730 are optionally and preferablycombined to yield a three-dimensional image of the patient 730, such asa three-dimensional X-ray image of the patient 730, where n is apositive integer, such as greater than 1, 2, 3, 4, 5, 10, 15, 25, 50, or100. The set of n images is optionally gathered as described incombination with images gathered using the second imaging source 1314,such as a second X-ray source or second cone beam X-ray source, and thesecond detector 1324, such as a second X-ray detector, where the use oftwo, or multiple, source/detector combinations are combined to yieldimages where the patient 730 has not moved between images as the two, orthe multiple, images are optionally and preferably collected at the sametime, such as with a difference in time of less than 0.01, 0.1, 1, or 5seconds. Longer time differences are optionally used. Preferably the ntwo-dimensional images are collected as a function of rotation of thegantry 960 about the tumor and/or the patient and/or as a function ofrotation of the patient 730 and the two-dimensional images of the X-raycone beam are mathematically combined to form a three-dimensional imageof the tumor 720 and/or the patient 730. Optionally, the first X-raysource and/or the second X-ray source is the source of X-rays that aredivergent forming a cone through the tumor. A set of images collected asa function of rotation of the divergent X-ray cone around the tumor witha two-dimensional detector that detects the divergent X-rays transmittedthrough the tumor is used to form a three-dimensional X-ray of the tumorand of a portion of the patient, such as in X-ray computed tomography.

Still referring to FIG. 13A, use of two imaging sources and twodetectors set at ninety degrees to one another allows the gantry 960 orthe patient 730 to rotate through half an angle required using only oneimaging source and detector combination. A third imaging source/detectorcombination allows the three imaging source/detector combination to beset at sixty degree intervals allowing the imaging time to be cut tothat of one-third that gantry 960 or patient 730 rotation required usinga single imaging source-detector combination. Generally, nsource-detector combinations reduces the time and/or the rotationrequirements to 1/n. Further reduction is possible if the patient 730and the gantry 960 rotate in opposite directions. Generally, the used ofmultiple source-detector combination of a given technology allow for agantry that need not rotate through as large of an angle, with dramaticengineering benefits.

Still referring to FIG. 13A, the set of sources 1310 and set ofdetectors 1320 optionally use more than one imaging technology. Forexample, a first imaging technology uses X-rays, a second usedfluoroscopy, a third detects fluorescence, a fourth uses cone beamcomputed tomography or cone beam CT, and a fifth uses otherelectromagnetic waves. Optionally, the set of sources 1310 and the setof detectors 1320 use two or more sources and/or two or more detectorsof a given imaging technology, such as described supra with two X-raysources to n X-ray sources.

Still referring to FIG. 13A, use of one or more of the set of sources1310 and use of one or more of the set of detectors 1320 is optionallycoupled with use of the positively charged particle tomography systemdescribed supra. As illustrated in FIG. 13A, the positively chargedparticle tomography system uses a second mechanical support 1343 toco-rotate the scintillation material 710 with the gantry 960, as well asto co-rotate an optional sheet, such as the first sheet 760 and/or thefourth sheet 790.

Example II

Referring now to FIG. 13B, a second example of the integrated cancertreatment-imaging system 1300 is illustrated using greater than threeimagers.

Still referring to FIG. 13B, two pairs of imaging systems areillustrated. Particularly, the first and second imaging source 1312,1314 coupled to the first and second detectors 1322, 1324 are asdescribed supra. For clarity of presentation and without loss ofgenerality, the first and second imaging systems are referred to as afirst X-ray imaging system and a second X-ray imaging system. The secondpair of imaging systems uses a third imaging source 1316 coupled to athird detector 1326 and a fourth imaging source 1318 coupled to a fourthdetector 1328 in a manner similar to the first and second imagingsystems described in the previous example. Here, the second pair ofimaging systems optionally and preferably uses a second imagingtechnology, such as fluoroscopy. Optionally, the second pair of imagingsystems is a single unit, such as the third imaging source 1316 coupledto the third detector 1326, and not a pair of units. Optionally, one ormore of the set of imaging sources 1310 are statically positioned whileone of more of the set of imaging sources 1310 co-rotate with the gantry960. Pairs of imaging sources/detector optionally have common anddistinct distances, such as a first distance, d₁, such as for a firstsource-detector pair and a second distance, d₂, such as for a secondsource-detector or second source-detector pair. As illustrated, thetomography detector or the scintillation material 710 is at a thirddistance, d₃. The distinct differences allow the source-detectorelements to rotate on a separate rotation system at a rate differentfrom rotation of the gantry 960, which allows collection of a fullthree-dimensional image while tumor treatment is proceeding with thepositively charged particles.

Example III

For clarity of presentation, referring now to FIG. 13C, any of the beamsor beam paths described herein is optionally a cone beam 1390 asillustrated. The patient support 152 is an mechanical and/orelectromechanical device used to position, rotate, and/or constrain anyportion of the tumor 720 and/or the patient 730 relative to any axis.

Tomography Detector System

A tomography system optically couples the scintillation material to adetector. As described, supra, the tomography system optionally andpreferably uses one or more detection sheets, beam tracking elements,and/or tracking detectors to determine/monitor the charged particle beamposition, shape, and/or direction in the beam path prior to and/orposterior to the sample, imaged element, patient, or tumor. Herein,without loss of generality, the detector is described as a detectorarray or two-dimensional detector array positioned next to thescintillation material; however, the detector array is optionallyoptically coupled to the scintillation material using one or moreoptics. Optionally and preferably, the detector array is a component ofan imaging system that images the scintillation material 710, where theimaging system resolves an origin volume or origin position on a viewingplane of the secondary photon emitted resultant from passage of theresidual charged particle beam 267. As described, infra, more than onedetector array is optionally used to image the scintillation material710 from more than one direction, which aids in a three-dimensionalreconstruction of the photonic point(s) of origin, positively chargedparticle beam path, and/or tomographic image.

Detector Array

Referring now to FIG. 14A, in a tomography system 1400, a detector array1410 is optically coupled to the scintillation material 710. For clarityof presentation and without loss of generality, the detector array 1410,which is preferably a two-dimensional detector array, is illustratedwith a detection side directly coupled to the scintillation material710, such as through physical contact or through an intervening layer ofan optical coupling material or optical coupling fluid with an index ofrefraction between that of the scintillation material 710 and front sideof the detector array 1410. However, the detector array 1410 isoptionally remotely located from the scintillation material 710 andcoupled using light coupling optics. As illustrated, secondary photonsemitted from the scintillation material 710, resultant from passage ofthe residual charge particle beam 267, strike a range of detectorelements according to a probability distribution function. Generally,the positively charged particles from the accelerator after passingthrough the sample strike the scintillation material resultant inemitted electrons and photons, the photons are detected, and the path ofthe charged particles and/or the energy of the charged particles afterpassing through the sample is back calculated using the detectionposition(s) of the photons in the detector array.

Referring now to FIG. 14B, the tomography system 1400 is illustratedwith an optical array between the scintillation material 710 and thedetector array 1410. For clarity of presentation and without loss ofgenerality, the optical array is referred to herein as a fiber opticarray 1420, which is preferably a two-dimensional fiber optic array. Theindividual elements of the optical array are optionally of any geometry,such as a square or rectangular cross-section in place of a roundcross-section of a fiber optic. Generally, the scintillation material710 is optically coupled to the fiber optic array 1420 and the fiberoptic array 1420 is optically coupled to the detector array 1410, whichmay be mass produced. In one case, elements of the fiber optic array1420 couple 1:1 with elements of the detector array 1410. In a secondpreferable case, the intermediate fiber optic array 1420 is primarilyused to determine position of detected photons and many detectorelements of the detector array couple to a single fiber optic element ofthe fiber optic array 1420 or vice-versa. In the second case, signalsfrom detector elements not aligned with a given fiber core, but insteadaligned with a cladding or buffer material about the fiber are removedin post-processing.

Referring now to FIG. 14C and FIG. 14D, the fiber optic array 1420 isillustrated with a fiber array configuration that is close-packed 1422and orderly 1424, respectively. The close-packed 1422 system captures ahigher percentage of photons while the orderly 1424 system couplesreadily with an array of detector elements in the detector array 1424.Since post-processing is optionally and preferably used to determinewhich detector element signals to use, the packing structure of thefiber optic array 1420 is optionally of any geometry.

Referring now to FIG. 14E, the tomography system 1400 is illustratedwith an optional micro-optic array 1412 coupling and focusing photonsfrom the scintillation material 710 to the detector array 1410.Generally, the array of micro-optics couples more light to the detectorelements of the detector array 1410, which increases the signal-to-noiseratio of the detected signals.

Multiplexed Scintillation

Referring now to FIG. 15, a multiplexed scintillation system 1500 isillustrated. In one case of the multiplexed scintillation system 1500,multiple frequencies of light are detected where the detected frequencywavelength, wavelength range, or color is representative of energy, orresidual energy after passing through the sample, of the residualcharged particle beam 267. In another case, changing distributions ofsecondary photons, resultant from passage of the residual chargedparticle beam 267, are detected and used to determine state of theresidual charged particle beam 267, such as position, direction,intensity, and/or energy. In still another case, a set of differentscintillation materials are used to determine state of the residualcharged particle beam 267. To clarify and without loss of generality,several examples of multiplexed scintillation follow.

Example I

In a first example, the scintillation material 710 results in emissionof photons at different wavelengths dependent upon the energy of theresidual charged particle beam 267, which is the treatment beam 269after passing through a sample, such as the tumor 720 of the patient730. For instance, as the residual charged particle beam 267 slows inthe scintillation material, the wavelength of secondary photonsincreases resultant in a color shift as a function of position along thepath or vector of the residual charged particle beam 267. Hence, use ofwavelengths of the photons detected by detector elements in the detectorarray 1410, or as described infra multiple detector arrays, viewingvarying depths of the scintillation material 710 are used to backcalculate state of the residual charged particle beam 267.

Example II

In a second example, the scintillation material 710 results in emissionof differing numbers of photons as a function of the energy of theresidual charged particle beam 267, which changes as a function of depthof penetration into the scintillation material 710. For instance, as theresidual charged particle beam 267 slows in the scintillation material710, the intensity of secondary photons changes as a function ofposition along the path or vector of the residual charged particle beam267. Hence, use of the intensity of the signals of detector element ofthe detector array 1410, or as described infra multiple detector arrays,viewing varying depths of the scintillation material 710 are used toback calculate state of the residual charged particle beam 267 as afunction of depth in the scintillation material 710.

Example III

In a third example, the scintillation material 710 is a set of nscintillation materials having differing secondary photon emissionproperties as a function of incident or transiting positively chargedparticles, where n is a positive integer such as greater than 1, 2, 3,4, 5, or 10. For clarity of presentation and without loss of generality,cases of using a set of scintillation materials are described herein.

Referring now to FIG. 15, in a first case, three scintillation materialsare used in a scintillation block, section, or volume of the multiplexedscintillation system 1500. Particularly, a first scintillation material711, a second scintillation material 712, and a third scintillationmaterial 713 are used at a first, second, and third depth along a pathof the residual charge particle beam 267 or z-axis. Further, asillustrated, the first scintillation material 711, the secondscintillation material 712, and the third scintillation material 713emit light at three separate wavelengths, such as from three distinctchemical compositions of the three scintillation materials 711, 712,713. For clarity of presentation, the three wavelengths are denoted blue(B), green (G), and red (R); however, any wavelength, range ofwavelength, or ranges of wavelengths from 200 to 2500 is optionallyused. As illustrated, when the residual charged particle beam 267 hasonly enough energy to penetrate into the first scintillation material711, then only blue light is emitted. Further, when the residual chargedparticle beam 267 has sufficient energy to penetrate into only thesecond scintillation material 712, then only blue light and green lightis emitted. In this case, the colors of the emitted light yieldsadditional information on the path of the positively charged particles,which provides a useful constraint on back calculation of the state ofthe residual charged particle beam 267. Still further, when the residualcharged particle beam 267 has a large enough energy to penetrate intothe third scintillation material 713, then blue, green, and red light isemitted; again adding useful information on the state of the residualcharged particle beam 267 and useful constraints on back calculation ofthe residual charged particle beam state.

In a second case the set of scintillation materials comprise differentthicknesses, such as n thicknesses, where n is a positive integer. Stillreferring to FIG. 15, for clarity of presentation and without loss ofgenerality, three thicknesses of scintillation materials are illustratedalong a longitudinal z-axis of the residual charged particle beam 267.Particularly, the first scintillation material 711 is illustrated with afirst pathlength, b₁; the second scintillation material 712 isillustrated with a second pathlength, b₂; and the third scintillationmaterial 713 is illustrated with a third pathlength, b₃. By usingthinner layers, relative to a homogeneous scintillation material, of agiven light emitting color, identification, post-processing, and/or backcalculation of the points of origin of secondary emission of photons,resultant from passage of the residual charged particle beam 267, areconstrained and thus the path of the residual charged particle beam 267and corresponding treatment beam 269 through the tumor 720 is identifiedwith more accuracy and/or precision. The layers of scintillationmaterial optionally emit n wavelengths or bands of light. Further, theuse of one material emitting a first color at a first layer isoptionally used again for another non-adjacent layer. Similarly, apattern of colors from corresponding layers is optionally repeated as afunction of position along the residual charged particle beam 267, suchas B, G, R, B, G, R, . . . , B, G, R.

Example IV

In a fourth example, a color filter array 1414 is optically coupled tothe detector array 1410, where the color filter array 1414 is in asecondary photon path between the scintillation material 710 and thedetector array 1410. Similarly and preferably, a two-dimensional colorfilter array is optically coupled to a two-dimensional detector array inthe secondary photon path. Using the color filter array 1414 as aportion of an imaging system, a point of origin of the secondary photonis determined, which yields information on path of the residual chargedparticle beam 267. For clarity of presentation, the color filter array1414 is described as a Bayer matrix; a cyan, yellow, green, magentafilter, which is a CYGM filter; a red, green, blue, emerald filter,which is a RGBE filter, and/or a two color filter array. Generally anyrepeating array of color filters or even non-repeating pattern ofoptical filters is used in the color filter array 1414.

Example VI

Generally, components of the tomography system, described supra, arecombined in any combination and/or permutation. For instance, stillreferring to FIG. 15, a sixth example is provided using: (1) the firstscintillation material 711 with the first pathlength, b₁; (2) the secondscintillation material 712 with the second pathlength, b₂; (3) the thirdscintillation material 713 with the third pathlength, b₃; (4) the colorfilter array 1414; (5) the micro-optics array 1412; and (6) the detectorarray 1410, all in two-dimensional configurations as part of an imagingsystem imaging the scintillation materials and secondary photons emittedtherefrom, resultant from passage, transit, energy transfer from,interaction with, or termination of the residual charged particles inthe residual charged particle beam 267. Calculation of position anddirection of the residual charged particle beam 267, with or without useof an imaging sheet, allows a more accurate determination of an exitpoint of the treatment beam 269 or start of the residual energy beam 269from the patient 730 and a corresponding path of the charged particlebeam from the prior side of the patient 730, through the patient 730,and to the posterior exit point of the patient 730.

Scintillation Array

Referring now to FIG. 16A, the scintillation material 710 is optionallyconfigured as an array of scintillation materials and/or as an array ofscintillation sections 1610 in a multiplexed scintillation detector1600, where elements of the array of scintillation sections 1610 areoptionally physically separated. For clarity of presentation and withoutloss of generality examples follow that described and/or illustrate thearray of scintillation sections 1610 as an element of the tomographysystem.

Example I

In a first example, referring still to FIG. 16A, the scintillationmaterial 710 described above is illustrated in a configuration of anarray of scintillation sections 1610 or an array of scintillationoptics. As illustrated, elements of the array of scintillation sections1610 having a first index of refraction are separated by a separationmaterial or cladding 1422 having a second index of refraction that isless than the first index of refraction. For example, the first index ofrefraction is greater than 1.4, in a range of 1.3 to 1.7, and/or in arange of 1.4 to 1.6 and the second index of refraction is in a range of1.0 to 1.3 or 1.4. The difference in index of refraction forms alight-pipe similar to a fiber optic, for the photons at or above a totalinternal reflectance angle threshold. Referring now to FIG. 16B, thecore scintillation material 710 and the surrounding cladding 1422 isfurther illustrated within a buffer material 1424. While the light-pipein FIG. 16B is illustrated with a circular cross-sectional shape,generally the light pipe cross-sectional shape is of any geometry, suchas a rounded corner polygon, square, or rectangle. Referring again toFIG. 16A, the residual charged particle beam 267 is illustrated asinducing emission of two photons, illustrated as dashed lines. The firstphoton passes straight to a first detector element 1415 of the detectorarray 1410. The second photon reflects off of the surrounding cladding1422 into the first detector element. As illustrated with the dottedline, without the surrounding cladding 1422, having a lower index ofrefraction than the scintillation material 710, the second photon wouldhave struck a second detector element 1416 of the detector array 1410.Hence, by restricting, x- and/or y-axis movement of the photon, aslimited by the respective index of refractions, detected and determinedresolution of the path of the residual charged particle is enhanced anda corresponding enhancement of the tomographic image is achieved, asdescribed supra.

Example II

In a second example, still referring to FIG. 16B, individual elements ofthe array of scintillation sections 1610 or scintillation optics arecomprised of individual scintillation materials, such as the firstscintillation material 711, the second scintillation material 712, andthe third scintillation material 713. Optionally, the surroundingcladding 1422 is only used between a repeating set of the scintillationmaterials, in this case between every three longitudinal elements ofscintillation materials.

Example III

In a third example, referring now to FIG. 16C, as in the first examplethe scintillation material 710 described above is illustrated as anarray of scintillation sections 1610, where individual longitudinalpaths of the scintillation sections 1610 along the z-axis are separatedby the cladding with the second lower index of refraction comparedindices of refraction of a set of scintillation materials. However, inthis example, the longitudinal paths of a given scintillation sectioncomprises n sections of scintillation materials, where n is a positiveinteger of 2, 3, 4, 5, or more. As illustrated, longitudinal sectionscomprise the second scintillation material 712 between the firstscintillation material 711 and the third scintillation material 713.Further, as illustrated at a first time, t₁, the residual charged energybeam 267 strikes the first scintillation material generating a bluephoton, B, detected at a third detector element 1417, where the bluephoton is maintained in a resolved x/y-range by the surrounding cladding1422. Similarly, at a second time, t₂, and third time, t₃, respectively,residual charged energy beams generate a green photon, G, and a redphoton, R, respectively, which are detected with a fourth detectorelement 1418 and a fifth detector element 1419, respectively. Again, thesurrounding cladding 1422 limits x/y-plane translation of the greenphoton and the red photon. As: (1) the color of the photon, B, G, R, isindicative of the z-axis energy of the residual charged particle beam267 in the longitudinally segmented sections of the elements of thefiber optic array 1410 and (2) the x/y-plane position of the residualcharged particle beam 267 is restricted by the cladding 1422 between theaxially separated scintillation sections 1610 of the scintillation opticarray, x, y, and z information or spatial position and energyinformation about the residual charged particle beam 267 is obtained asa function of time, which is used in a back calculation of the path of:(1) the treatment beam 269 or imaging beam and (2) presence andstructure of constituents of the patient 730, such as the tumor 720,blood, bone, muscle, connective tissue, collagen, elastin, and/or fat.

Example IV

In another example, one or more imaging optic, such as a light directingoptic and/or a focusing optic, used to image the scintillation materialcomprises the scintillation material 710.

Enhanced Multi-Directional Scintillation Detection

Photons emitted from the scintillation material, resultant from energytransfer from a passing residual charged particle beam 267, emit in manydirections. Hence, detection and/or imaging of the photons in manyplanes or directions provides an opportunity for enhancedsignal-to-noise, resolution, accuracy, and/or precision of determinationof state of the residual charged particle beam 267 and from thatenhanced resolution, accuracy, and precision of the imaged sample, suchas the tumor 720 of the patient 730.

Referring now to FIG. 17A, herein the scintillation material 710, in theform of a block or as segmented sections has a prior surface 714 orfront surface, a posterior surface 715 or back surface, a dexter surface716 or viewer's left surface, a sinister surface 717 or viewer's rightsurface, a top surface 718, and a bottom surface 719.

Generally, the detector array 1410 and/or any of the accessoriesthereof, such as the micro-optics array 1412, color filter array 1414,axially separated sections, and/or longitudinally separated sections, isoptionally used on any surface of the scintillation material 710.Further, referring now to FIG. 17B, the detector array 1410 isoptionally a set of detector arrays 1700, such as n detector arrayswhere n is a positive integer. In FIG. 17B, the set of detector arrays1700 includes: (1) a second detector array 1702 optically coupled to theposterior surface 715 of the scintillation material 710; (2) a fourthdetector array 1704 optically coupled to the sinister surface 716 of thescintillation material 710; and (3) a fifth detector array 1705optically coupled to the top surface 718 of the scintillation material710. The use of multiple detector arrays, each configured to image thescintillation material 710, enhances accuracy and precision of knowledgeof path of the residual charged particle beam 267 through enhancedaccuracy, precision, and resolution of points of origin of the resultantemitted photons and as discussed above the resulting accuracy,precision, and resolution of the imaged object. As illustrated, use ofthree detector arrays set at orthogonal angles allows imaging of thescintillation material in three dimensions, which aids in determinationof the path of the residual charged particle beam 267. Optionally, eachof the set of detector arrays 1700 is set at any orientation in the x-,y-, z-axes space.

Referring now to FIG. 17B, FIG. 17C, and FIG. 17D, the set of detectorarrays 1700 is illustrated with six detector arrays: (1) a firstdetector array 1701 optically coupled to the prior surface 714 of thescintillation material 710; (2) a second detector array 1702 opticallycoupled to the posterior surface 715 of the scintillation material 710;(3) a third detector array 1703 optically coupled to the dexter surface716 of the scintillation material 710; (4) a fourth detector array 1704optically coupled to the sinister surface 717 of the scintillationmaterial 710; (5) a fifth detector array 1705 optically coupled to thetop surface 718 of the scintillation material 710; and (6) a sixthdetector array 1706 optically coupled to the bottom surface 719 of thescintillation material 710. Use of a detector array on each surface ofthe scintillation material 710 allows detection of secondary photons,resultant from the residual charged particle beam 267, with acorresponding increase and/or maximum percentage of detection of theemitted photons. For clarity of presentation and without loss ofgenerality three secondary photons are illustrated: a first secondaryphoton 1722, a second secondary photon 1724, and a third secondaryphoton 1726. The larger number of detected photons, with the multipledetector arrays, yields a larger number of data points to moreaccurately and precisely determine state of the residual chargedparticle beam with a corresponding enhancement of the tomographic image,as described supra.

Still referring to FIG. 17C, optionally, the prior surface 714 of thescintillation material 710 comprises an aperture 1710 through which theresidual charged particle beam 267 passes. Optionally, no aperture isused on the prior surface 714 of the scintillation material 710 and thedensities and pathlengths of the first detector array 1701 are used in acalculation of an energy of the residual charged particle beam 267.

Imaging

Generally, medical imaging is performed using an imaging apparatus togenerate a visual and/or a symbolic representation of an interiorconstituent of the body for diagnosis, treatment, and/or as a record ofstate of the body. Typically, one or more imaging systems are used toimage the tumor and/or the patient. For example, the X-ray imagingsystem and/or the positively charged particle imaging system, describedsupra, are optionally used individually, together, and/or with anyadditional imaging system, such as use of X-ray radiography, magneticresonance imaging, medical ultrasonography, thermography, medicalphotography, positron emission tomography (PET) system, single-photonemission computed tomography (SPECT), and/or another nuclear/chargedparticle imaging technique.

Referring now to FIG. 18, the imaging system 170 is further described.As described supra, the imaging system 170 optionally uses:

-   -   a positive ion beam tumor irradiation system 171;    -   two or more imaging systems 172, where the individual imaging        systems generate data for a composite image of the sample;    -   a concurrent treatment imaging system 173, where imaging occurs        during treatment of the tumor 720 with the positively charged        particle or in-between treatment of voxels of the tumor 720;    -   an intermittent or periodic imaging system 174, where one or        more update images, confirmation images, and/or adjustment        images are collected to update a previous image, alter a        treatment plan, and/or stop a current treatment of the tumor 720        with the treatment beam 269;    -   a tomography beam imaging system 175 comprising generating        tomograms from any radiology technology;    -   a dynamic feedback system 176, such as use of a positron        emission tomography signal to dynamically control state and/or        movement of a positive ion tumor treatment beam;    -   a relative rotational motion system 177 between the patient and        an imaging beam; and/or    -   a relative linear motion system 178 between the patient and a        radiography imaging beam.

To clarify the imaging system and without loss of generality severalexamples are provided.

Example I

In a first example, a positron emission tomography system is used tomonitor, as a function of time, a precise and accurate location of thetreatment beam 269 relative to the tumor 720. Signal from the positronemission tomography system is optionally: (1) recorded to provide areviewable history of treatment of the tumor 720 with the positivelycharged particle beam or treatment beam 269 and/or (2) used todynamically monitor the position of the treatment beam 269 and tofunction as a feedback control signal to dynamically adjust position ofthe treatment beam 269 as a function of time while scanning throughtreatment voxels of the tumor 720.

Example II

In a second example, an imaging system images the tumor 720 as afunction of imaging system paths, which is movement of at least aportion of the imaging system beam along a first path relative to thetumor 720, while the charged particle beam system 100 treats a series ofvoxels of the tumor 720 along a set of treatment beam paths. In variouscases: (1) the imaging system paths and treatment beam paths areessentially parallel paths, such as the two paths forming an angle withthe tumor of less than 10, 5, 2, or 1 degrees; (2) the imaging systempaths and treatment beam paths are essentially perpendicular to oneanother, such as forming an angle with the tumor 720 of greater than 70,80, 85, 88, or 89 degrees and less than 91, 92, 95, 100, or 110 degrees;(3) as the treatment beam 269 and gantry nozzle 610, of the particlebeam system 100, rotates around the tumor 720 with rotation of thegantry 960 at a first rotational rate, the imaging system path rotatesaround the tumor 720 at a second rotational rate; and (4) as thetreatment beam 269 and gantry nozzle 610, of the particle beam system100, relatively rotates around the tumor 720, the imaging system pathstranslate along a vector, such as while the tumor 720 is treated along aset of rotated lines joined at the tumor, the imaging system paths forma set of essentially parallel lines, such as a set of vectors along aplane and/or a set of vectors passing through a first or prior side ofthe tumor.

Referring now to FIGS. 19(A-C), a hybrid cancer treatment-imaging system1800 is illustrated. Generally, the gantry 960, which optionally andpreferably supports the gantry nozzle 610, rotates around the tumor 720,as illustrated in FIG. 19B, and/or an isocentre 263, as illustrated inFIG. 19A, of the charged particle beam. As illustrated, the gantry 960rotates about a gantry rotation axis 1811, such as using a rotatablegantry support 1810. In one case, the gantry 960 is supported on a firstend 962 by a first buttress, wall, or support, not illustrated, and on asecond end 964 by a second buttress, wall, or support, not illustrated.A first optional rotation track 1813 and a second optional rotationtrack coupling the rotatable gantry support and the gantry 960 areillustrated, where the rotation tracks are any mechanical connection.Further, as illustrated, for clarity of presentation, only a portion ofthe gantry 960 is illustrated to provide visualization of the supportedbeam transport system 135 or a section of the beamline between thesynchrotron 130 and the patient 730. To further clarify, the gantry 960is illustrated, at one moment in time, supporting the gantry nozzle 610of the beam transport system 135 in an orientation resulting in avertical vector of the treatment beam 269. As the rotatable gantrysupport 1810 rotates, the gantry 960, the beam transport line 135, thegantry nozzle 610 and the treatment beam 269 rotate about the gantryrotation axis 1811, illustrated as the x-axis, forming a set oftreatment beam vectors originating at circumferential positions abouttumor 720 or isocentre 263 and passing through the tumor 720.Optionally, an X-ray beam path 1801, from an X-ray source, runs throughand moves with the dynamic gantry nozzle 610 parallel to the treatmentbeam 269. Prior to, concurrently with, intermittently with, and/or afterthe tumor 720 is treated with the set of treatment beam vectors, one ormore elements of the imaging system 170 image the tumor 720 of thepatient 730.

Still referring to FIG. 19A, the hybrid cancer treatment-imaging system1800 is illustrated with an optional set of rails 1820 and an optionalrotatable imaging system support 1812 that rotates the set of rails1820, where the set of rails 1820 optionally includes n rails where n isa positive integer. Elements of the set of rails 1820 support elementsof the imaging system 170, the patient 730, and/or a patient positioningsystem. The rotatable imaging system support 1812 is optionallyconcentric with the rotatable gantry support 1810. The rotatable gantrysupport 1810 and the rotatable imaging system support 1812 optionally:co-rotate, rotate at the same rotation rate, rotate at different rates,or rotate independently. A reference point 1815 is used to illustratethe case of the rotatable gantry support 1810 remaining in a fixedposition, such as a treatment position at a third time, t₃, and a fourthtime, t₄, while the rotatable imaging system support 1812 rotates theset of rails 1820.

Still referring to FIG. 19A, any rail of the set of rails optionallyrotates circumferentially around the x-axis, as further described infra.For instance, the first rail 1822 is optionally rotated as a function oftime with the gantry 960, such as on an opposite side of the gantrynozzle 610 from the tumor 720 of the patient 730.

Still referring to FIG. 19A, a first rail 1822 of the set of rails 1820is illustrated in a first retracted position at a first time, t₁, and ata second extended position at a second time, t₂. The first rail 1822 isillustrated with a set of n detector types 1830, such as a firstdetector 1832 or first detector array at a first extension position ofthe first rail 1822 and a second detector 1834 or second detector arrayat a second extension position of the first rail 1822, where n is apositive integer, such as 1, 2, 3, 4, 5, or more. The first detector1832 and the second detector 1834 are optionally and preferably twodetector array types, such as an X-ray detector and a scintillationdetector. In use, the scintillation detector is positioned, at thesecond extended position of the first rail 1822, opposite the tumor 730from the gantry nozzle 610 when detecting scintillation, resultant frompassage of the residual charged particle beam 267 into the scintillationmaterial 710, such as for generating tomograms, tomographic images,and/or a three-dimensional tomographic reconstruction of the tumor 720.In use, the first rail 1822 is positioned at a third extended position,not illustrated, which places the second detector or X-ray detectoropposite the tumor 720 from the gantry nozzle 610, such as forgenerating an X-ray image of the tumor 720. Optionally, the first rail1822 is attached to the rotatable gantry support 1810 and rotates withthe first gantry support 1810. The first rail 1822 is optionallyretracted, such as illustrated at the first time, t₁, such as for somepatient positions about the isocentre 263.

Still referring to FIG. 19A and referring again to FIG. 19B and FIG.19C, a second rail 1824 and a third rail 1826 of the set of rails 1820are illustrated at a retracted position at a first time, t₁, and anextended position at a second time, t₂. Generally, the second rail 1824and the third rail 1826 are positioned on opposite sides of the patient730, such as a sinister side and a dexter side of the patient 730.Generally, the second rail 1824, also referred to as a source side rail,positions an imaging source system element and the third rail 1826, alsoreferred to as a detector side rail, positions an imaging detectorsystem element on opposite sides of the patient 730. Optionally andpreferably, the second rail 1824 and the third rail 1826 extend awayfrom the first buttress 962 and retract toward the first buttress 962together, which keeps a source element mounted, directly or indirectly,on the second rail 1824 opposite the patient 730 from a detector elementmounted, directly or indirectly, on the third rail 1826. Optionally, thesecond rail 1824 and the third rail 1826 translate, such as linearly, onopposite sides of an axis perpendicular to the gantry rotation axis1811, as further described infra. Optionally, the second rail 1824 andthe third rail 1826 position PET detectors for monitoring emissions fromthe tumor 720 and/or the patient 730, as further described infra.

Still referring to FIG. 19B, a rotational imaging system 1840 isdescribed. For example, the second rail 1824 is illustrated with: (1) afirst source system element 1841 of a first imaging system, or firstimaging system type, at a first extension position of the second rail1824, which is optically coupled with a first detector system element1851 of the first imaging system on the third rail 1826 and (2) a secondsource system element 1843 of a second imaging system, or second imagingsystem type, at a second extension position of the second rail 1824,which is optically coupled with a second detector system element 1853 ofthe second imaging system on the third rail 1826, which allows the firstimaging system to image the patient 730 in a treatment position and,after translation of the first rail 1824 and the second rail 1826, thesecond imaging system to image the patient in the patient's treatmentposition. Optionally the first imaging system or primary imaging systemand the second imaging system or secondary imaging system aresupplemented with a tertiary imaging system, which uses any imagingtechnology. Optionally, first signals from the first imaging system arefused with second signals from the second imaging system to: (1) form ahybrid image; (2) correct an image; and/or (3) form a first image usingthe first signals and modified using the second signals or vise-versa.

Still referring to FIG. 19B, the second rail 1824 and third rail 1826are optionally alternately translated inward and outward relative to thepatient, such as away from the first buttress and toward the firstbuttress. In a first case, the second rail 1824 and the third rail 1826extend outward on either side of the patient, as illustrated in FIG.19B. Further, in the first case the patient 730 is optionally maintainedin a treatment position, such as in a constrained laying position thatis not changed between imagining and treatment with the treatment beam269. In a second case, the patient 730 is translated toward the firstbuttress 962 to a position between the second rail 1824 and the thirdrail 1826, as illustrated in FIG. 19B. In the second case, the patientis optionally imaged out of the treatment beam path 269, as illustratedin FIG. 19B. Further, in the second case the patient 730 is optionallymaintained in a treatment position, such as in a constrained layingposition that is not changed until after the patient is translated backinto a treatment position and treated. In a third case, the second rail1824 and the third rail 1826 are translated away from the first buttress962 and the patient 730 is translated toward the first buttress 962 toyield movement of the patient 730 relative to one or more elements ofthe first imaging system type or second imaging system type. Optionally,images using at least one imaging system type, such as the first imagingsystem type, are collected as a function of the described relativemovement of the patient 730, such as along the x-axis and/or as afunction of rotation of the first imaging system type and the secondimaging system type around the x-axis, where the first imaging type andsecond imaging system type use differing types of sources, use differingtypes of detectors, are generally thought of as distinct by thoseskilled in the art, and/or have differing units of measure. Optionally,the source is an emissions from the body, such as a radioactiveemission, decay, and/or gamma ray emission, and the second rail 1824 andthe third rail 1826 position and/or translate one or more emissiondetectors, such as a first positron emission detector on a first side ofthe tumor 720 and a second positron emission detector on an oppositeside of the tumor 730.

Still referring to FIG. 19B, a hybrid cancer treatment-rotationalimaging system 1804 is illustrated. In one example of the hybrid cancertreatment-rotational imaging system 1804, the second rail 1824 and thirdrail 1826 are optionally circumferentially rotated around the patient730, such as after relative translation of the second rail 1824 andthird rail 1826 to opposite sides of the patient 730. As illustrated,the second rail 1824 and third rail 1826 are affixed to the rotatableimaging system support 1812, which optionally rotates independently ofthe rotatable gantry support 1810. As illustrated, the first sourcesystem element 1841 of the first imaging system, such as atwo-dimensional X-ray imaging system, affixed to the second rail 1824and the first detector system element 1851 collect a series ofpreferably digital images, preferably two-dimensional images, as afunction of co-rotation of the second rail 1824 and the third rail 1826around the tumor 720 of the patient, which is positioned along thegantry rotation axis 1811 and/or about the isocentre 263 of the chargedparticle beam line in a treatment room. As a function of rotation of therotatable imaging system support 1812 about the gantry rotation axis1811 and/or a rotation axis of the rotatable imaging system support1812, two-dimensional images are generated, which are combined to form athree-dimensional image, such as in tomographic imaging. Optionally,collection of the two-dimensional images for subsequent tomographicreconstruction are collected: (1) with the patient in a constrainedtreatment position, (2) while the charged particle beam system 100 istreating the tumor 720 of the patient 730 with the treatment beam 269,(3) during positive charged particle beam tomographic imaging, and/or(4) along an imaging set of angles rotationally offset from a set oftreatment angles during rotation of the gantry 960 and/or rotation ofthe patient 730, such as on a patient positioning element of a patientpositioning system.

Referring now to FIG. 19C, a hybrid tumor treatment-vertical imagingsystem 1806 is illustrated, such as with a translatable imaging system1860 is described. In one example of the hybrid tumor treatment verticalimaging system 1806, the second rail 1824 and the third rail 1826 areused to acquire a set of images with linear translation of the secondrail 1824 and the third rail 1826 past the tumor 720 of the patient 730,such as with movement along an axis as a function of time, such as, asillustrated, along a vertical axis at the fifth time, t₅, and a sixthtime, t₆. As illustrated, the second rail 1824 and the third railco-translate along a rail support 1864, where the rail support 1864 isoptionally positioned inside the rotatable gantry support 1810 and/orthe rotatable imaging system support 1812. Optionally and preferably,source elements and detector elements moving past the tumor 720 of thepatient 730 on the second rail 1824 and third rail 1826, respectively,are used to collect a scanning set of images, such as PET images, of thetumor as a function of translation along the rail support 1864. In thehybrid tumor treatment-vertical imaging system 1806, the second rail1824 and elements supported thereon and the third rail and elementssupported thereon optionally extend and/or retract, as described supra.Further, in the hybrid tumor treatment-vertical imaging system 1806, thesecond rail 1824 and elements supported thereon and the third rail andelements supported thereon optionally rotate about the isocentre, suchas with rotation of the rotatable gantry support 1810 and/or therotatable imaging system support 1812. Optionally, any member of the setof rails 1820 extends/retracts, rotates, and/or translates past thetumor 720 of the patient 730 at the same time.

Optionally, the vertical imaging system 1806 moves a PET system detectorsystem element, such as a detector or coupling device, to a positioncorresponding to a depth of penetration of the treatment beam 269 intothe tumor 720 of the patient 730. For clarity of presentation andwithout loss of generality, an example is provided where the treatmentbeam 269 is vertical and passes through the gantry nozzle 610 directlyabove the tumor 720. The treatment beam 269 is of a known energy at aknown time, where the known energy is intentionally varied to yield acorresponding varied depth of penetration of the treatment beam 269 intothe tumor, such as described by the peak of the Bragg peak. A detectorsystem element of the positron emission tomography system, supported onthe vertical imaging system 1806, it optionally translated vertically toobserve the depth of penetration of the treatment beam 269. Forinstance, as the treatment beam energy is decreased, the depth ofpenetration of the treatment beam 269 into the tumor 720 of the patient730 decreases and the detector system element of the positron emissiontomography system is raised vertically. Similarly, as the treatment beamenergy is increased, the depth of penetration of the treatment beam 269into the tumor 720 of the patient 730 increases and the detector systemelement of the positron emission tomography system is loweredvertically. Optionally, as the gantry 960 rotates, the vertical imagingsystem rotates.

Still referring to FIG. 19C, a reference point 1816 is used toillustrate the case of the rotatable gantry support 1810 rotatingbetween a fifth time, t₅, and a sixth time, t₆, while the translatableimaging system 1860 moves the second rail 1824 and the third rail 1826along a linear axis, illustrated as the z-axis or treatment beam axis.

Optionally, one or more of the imaging systems described herein monitortreatment of the tumor 720 and/or are used as feedback to control thetreatment of the tumor by the treatment beam 269.

Referring now to FIG. 20, a dynamic treatment beam guiding system 2000is described. As the treatment beam 269 irradiates the tumor 2010radioactive nuclei or isotopes are formed 2020 where the treatment beam269 strikes the tumor 720 of the patient 730. The radioactive nucleiemits a positron 2030 that rapidly undergoes electron-positronannihilation 2040, which results in a gamma ray emission 2050. Thus,monitoring location of one or more gamma ray emissions is a measure ofthe current location of the treatment beam 269. Also, dependent upon thehalf-life of the formed radioactive nuclei, monitoring location of thegamma ray emissions provides a measure of where the treatment beam 269has interacted with the tumor 720 and/or the patient 730, which yieldsinformation on treatment coverage and/or provides a history oftreatment. By monitoring new voxels or positions of gamma ray emissionand/or by monitoring intensity drop off of gamma-ray emission over eachof multiple recently treated voxels, a current treatment position of thetreatment beam 269 is determined. The main controller 110 and/or adynamic positioning system 2060 is optionally used to dynamicallycorrect and/or alter the current position of the treatment beam 269,such as through control of one or more of the extraction energy, beamguiding magnets, or beam shaping elements.

Referring now to FIG. 21, treatment position determination system 2100is illustrated. Herein, for clarity of presentation and without loss ofgenerality, a Bragg peak is used to describe a treatment position.However, the techniques described herein additionally apply to the tailof the Bragg peak. As illustrated, at a first time, t₁, the treatmentbeam 269 having a first energy has a first treatment position 2111 at afirst depth, d₁, into the patient 730 where the first treatment position2111 is illustrated at a depth corresponding to the Bragg peak. Throughthe process illustrated in FIG. 20, the treatment beam 269 yields gammarays 2121 that are detected using a first gamma ray detector 2131 and asecond gamma ray detector 2132, such as respectively mounted on firstsupport 2141 on a first side of the tumor 720 and a second support 2142on a second side of the tumor 720, which is preferably the opposite sideof the patient to capture paired gamma ray signals. Optionally andpreferably, a common support is used to mount the first and secondsupports 2141, 2142. As illustrated, at a second time, t₂, the treatmentbeam 269 having a second energy has a second treatment position 2112 ata second depth, d₂, where the first and second gamma ray detectors 2131,2132 are translated, such as via the first and second support 2141, 2142to positions on opposite sides of the tumor 720, to a second positioncorresponding to the second energy and the second depth of penetrationinto the patient 730. Similarly, at a third time, t₃, of n times, wheren is a positive integer, the treatment beam 269 having a third energy,of n energies corresponding to a set of treatment depths 2110, treats athird treatment position 2113 at a third depth, d₃, where the first andsecond gamma ray detectors 2131, 2132 are translated to positions onopposite sides of the third depth of penetration. In this manner, thefirst and second gamma ray detectors 2131, 2132 are aligned with theexpected depth of penetration corresponding with the current energy ofthe treatment beam. Generally, as energy of the treatment beam 269increases, the gamma ray detectors are positioned on opposite sides of alarge depth of penetration and as the energy of the treatment beamdecreases 269, the detectors are positioned on opposite sides of arelatively shallower depth of penetration. If the first and second gammaray detectors 2131, 2132 yield low signals versus an expected signal,then the expected treatment position is not met and the position of thefirst and second gamma ray detectors 2131, 3132 is scanned or dithered,such as along the z-axis as illustrated, to find the maximum gamma raysignal corresponding to an actual depth of penetration. The inventornotes that previously treated positions yield decaying intensities ofemitted gamma rays based upon the initial intensity of the treatmentbeam 269, historical trail positions of the treatment beam 269overlapping the monitored position, cross-sectional target of the targetatom, such as carbon, nitrogen, oxygen, or any atom, and concentrationof the target atom, all of which are calculable and are optionally andpreferably used to: monitor total treatment of a voxel, determine acurrent treatment position of the treatment beam 269, dynamicallycontrol subsequent positions of the treatment beam 269, and/or record ahistory of actual treatment. Any deviation between planned treatment andactual treatment is noted in the treatment record, such as for asubsequent treatment, and/or is used in dynamic control of the chargedparticle beam. Optionally, an array of gamma ray detectors is used, suchas in place of a moveable gamma ray detector. Similarly, optionally apair of gamma ray detectors is used in place of the illustratedtranslatable first and second gamma ray detectors 2131, 2132.

Still referring to FIG. 21, optionally two or more off-axis gamma raydetector are used to determine treatment of a current voxel and/ortreatment of a previously treated voxel. For example, if a first pair ofgamma ray detectors are used to determine a z-axis position, a secondpair of gamma ray detectors are used to determine an x-axis position ora y-axis position. Similarly, a first pair of gamma ray detector arraysis optionally combined with a second pair of gamma ray detector arraysto increase accuracy and/or precision of treatment of a given voxel.Similarly, gamma ray detectors are optionally positioned and/or moved ina manner similar to placement and/or movement of any of the X-raysources and/or X-ray detectors described above, such as supported androtated about the tumor 720 of the patient 730 using the gantry 960, therotatable gantry support 1810, and/or the rotatable imaging systemsupport 1812.

The inventor notes that the positron emission system here usesradioactive nuclei or isotopes formed in-vivo, in stark contrast topositron emission tomography systems that generate isotopes externallythat are subsequently injected into the body. As the in-vivo radioactivenuclei are formed in the tumor 720, the gamma rays are emitted from thetumor 720 and not the tumor and all of the surrounding tissue. This aidsa signal-to-noise ratio of the acquired gamma ray signal as thebackground noise of additional non-tumor body tissues emitting gammarays is substantially reduced and completely removed if only consideringthe Bragg peak resultant in the peak signal. Further, as the radioactivenuclei is formed in-vivo, time is not required to recover theradioactive nuclei, move the radioactive nuclei to the patient, injectthe radioactive nuclei in the patient, and let the radioactive nucleidisperse in the patient, which take ten minutes of more. In starkcontrast, the radioactive nuclei is formed in-situ, such as in the tumor720, which allows analysis of any radioactive nuclei with a shorthalf-life, such as less than 10, 5, 2, 1, 0.5, 0.1, or 0.05 minutes.Still further, as position of the treatment beam 269 is monitored ordetermined as a function of time, tomograms of the tumor are generated.The individual tomograms are optionally combined to form an image of thetreated tumor or of the tumor as a function of treatment time allowing avideo of the collapse of the tumor to be generated and analyzed forreal-time modification of the tumor treatment with the treatment beam,to enhance protocols for future tumor treatments of others, and or tomonitor sections of the tumor requiring a second treatment.

Multiple Beam Energies

Referring now to FIG. 22A through FIG. 27, a system is described thatallows continuity in beam treatment between energy levels.

Referring now to FIG. 22A and FIG. 22B, treating the tumor 720 of thepatient 730 using at least two beam energies is illustrated. Referringnow to FIG. 22A, in a first illustrative example the treatment beam 269is used at a first energy, E₁, to treat a first, second, and third voxelof the tumor at a first, second, and third time, t₁₋₃, respectively. Ata fourth time, t₄, the treatment beam 269 is used at a lower secondenergy, E₂, to treat the tumor 720, such as at a shallower depth in thepatient 730. Similarly, referring now to FIG. 22B, in a secondillustrative example the treatment beam 269 is used at a first energy,E₁, to treat a first, second, and third voxel of the tumor at a first,second, and third time, t₁₋₃, respectively. At a fourth time, t₄, thetreatment beam 269 is used at a higher third energy, E₃, to treat thetumor 720, such as at a greater depth of penetration into the patient730.

Referring now to FIG. 23, two systems are described that treat the tumor720 of the patient 730 with at least two energy levels of the treatmentbeam 269: (1) a beam interrupt system 2410 dumping the beam from anaccelerator ring, such as the synchrotron 130, between use of thetreatment beam 269 at a first energy and a second energy and (2) a beamadjustment system 2420 using an ion beam energy adjustment system 2340designed to adjust energies of the treatment beam 269 between loadingsof the ion beam. Each system if further described, infra. For clarity ofpresentation and without loss of generality, the synchrotron 130 is usedto represent any accelerator type in the description of the two systems.The field accepted word of “ring” is used to describe a beam circulationpath in a particle accelerator.

Referring still to FIG. 23, in the beam interrupt system 2410, an ionbeam generation system 2310, such as the ion source 122, generates anion, such as a cation, and a ring loading system 124, such as theinjection system 120, loads the synchrotron 130 with a set of chargedparticles. An energy ramping system 2320 of the synchrotron 130 is usedto accelerate the set of charged particles to a single treatment energy,a beam extraction system 2330 is used to extract one or more subsets ofthe charged particles at the single treatment energy for treatment ofthe tumor 720 of the patient 730. When a different energy of thetreatment beam 269 is required, a beam dump system 2350 is used to dumpthe remaining charged particles from the synchrotron 130. The entiresequence of ion beam generation, accelerator ring loading, acceleration,extraction, and beam dump is subsequently repeated for each requiredtreatment energy.

Referring still to FIG. 23, the beam adjustment system 2420 uses atleast the ion beam generation system 2310, the ring loading system 124,the energy ramping system 2320, and the beam extraction system 2330 ofthe first system.

However, the beam adjustment system uses an energy adjustment system2340 between the third and fourth times, illustrated in FIG. 22A andFIG. 22B, where energy of the treatment beam 269 is decreased orincreased, respectively. Thus, after extraction of the treatment beam269 at a first energy, the energy adjustment system 2340, with orwithout use of the energy ramping system 2320, is used to adjust theenergy of the circulating charged particle beam to a second energy. Thebeam extraction system 2330 subsequently extracts the treatment beam 269at the second energy. The cycle of energy beam adjustment 2340 and useof the beam extraction system 2330 is optionally repeated to extract athird, fourth, fifth, and/or n^(th) energy until the process of dumpingthe remaining beam and/or the process of loading the ring used in thebeam interrupt system is repeated. The beam interrupt system and beamadjustment systems are further described, infra.

Referring now to FIG. 24, the beam interrupt system 2410 is furtherdescribed. After loading the ring, as described supra, the tumor 720 istreated with a first energy 2432. After treating with the first energy,the beam interrupt system 2410 uses a beam interrupt step, such as: (1)stopping extraction, such as via altering, decreasing, shifting, and/orreversing the betatron oscillation 2416, described supra, to reduce theradius of curvature of the altered circulating beam path 265 back to theoriginal central beamline and/or (2) performing a beam dump 2414. Afterextraction is stopped and in the case where the beam is dumped, the ringloading system 124 reloads the ring with cations, the accelerator system131 is used to accelerate the new beam and a subsequent treatment, suchas treatment with a second energy 2434 ensues. Thus, using the beaminterrupt system 2410 to perform a treatment at n energy levels: ionsare generated, the ring is filled, and the ring is dumped n−1 times,where n is a positive integer, such as greater than 1, 2, 3, 4, 5, 10,25, or 50. In the case of interrupting the beam by altering the betatronoscillation 2416, the accelerator system 131 is used to alter the beamenergy to a new energy level.

Referring still to FIG. 24, the beam adjustment system 2420 is furtherdescribed. In the beam adjustment system 2420, after the tumor 720 istreated using a first beam energy 2432, a beam alteration step 2422 isused to alter the energy of the circulating beam. In a first case, thebeam is accelerated, such as by changing the beam energy by altering agap voltage 2424, as further described infra. Without performing a beamdump 2414 and without the requirement of using the accelerator system131 to change the energy of the circulating charged particle beam,energy of the circulating charge particle beam is altered using the beamalteration system 2422 and the tumor 720 is treated with a second beamenergy 2434. Optionally, the accelerator system 131 is used to furtheralter the circulating charged particle beam energy in the synchrotron130 and/or the extraction foil is moved 2440 to a non-beam extractionposition. However, the inventor notes that the highlighted path, A,allows: (1) a change in the energy of the extracted beam, the treatmentbeam 269, as fast as each cycle of the charged particle through thering, where the beam energy is optionally altered many times, such as onsuccessive passes of the beam across the gap, between treatment, (2)treatment with a range of beam energies with a single loading of thebeam, (3) using a larger percentage of the circulating charged particlesfor treatment of the tumor 720 of the patient, (4) a smaller number ofcharged particles in a beam dump, (5) use of all of the chargedparticles loaded into the ring, (6) small adjustments of the beam energywith a magnitude related to the gap radio-frequency and/or amplitudeand/or phase shift, as further described infra, and/or (7) a real-timeimage feedback to the gap radio-frequency of the synchrotron 130 todynamically control energy of the treatment beam 269 relative toposition of the tumor 720, optionally as the tumor 720 is ablated byirradiation, as further described infra.

Referring now to FIG. 25, the beam adjustment system 2420 is illustratedusing multiple beam energies for each of one or more loadings of thering. Particularly, the ring loading system 124 loads the ring and amultiple energy treatment system 2430 treats the tumor with a selectedenergy 2436, alters the treatment beam 2428, such as with the beamalteration process 2422, and repeats the process of treating with aselected energy and altering the beam energy n times before again usingthe ring loading system 124 to load the ring, where n is a positiveinteger of at least 2, 3, 4, 5, 10, 20, 50, and/or 100.

Referring now to FIG. 26A the beam alteration 2422 is further described.The circulating beam path 264 and/or the altered circulating beam path265 crosses a path gap 2610 having a gap entrance side 2620 and a gapexit side 2630. A voltage difference, ΔV, across the path gap 2610 isapplied with a driving radio field 2640. The applied voltage difference,ΔV, and/or the applied frequency of the driving radio field are used toaccelerate or decelerate the charged particles circulating in thecirculating beam path 264 and/or the altered circulating beam path 265,as still further described infra.

Referring now to FIG. 26B, acceleration of the circulating chargeparticles is described. For clarity of presentation and without loss ofgenerality, a ninety volt difference is used in this example. However,any voltage difference is optionally used relative to any startingvoltage. As illustrated, the positively charged particles enter the pathgap 2610 at the gap entrance side 2620 at an applied voltage of zerovolts and are accelerated toward the gap exit side 2630 at −90 volts.Optionally and preferably the voltage difference, that is optionallystatic, is altered at a radio-frequency matching the time period ofcirculation through the synchrotron.

Referring again to FIG. 26A, phase shifting the applied radio-frequencyis optionally used to: (1) focus/tighten distribution of a circulatingparticle bunch and/or (2) increase or decrease a mean energy of theparticle bunch as described in the following examples.

Example I

Referring again to FIG. 26B, in a first genus of a lower potential atthe gap exit side 2630 relative to a reference potential of the gapentrance side 2620, in a first species case of the appliedradio-frequency phase shifted to reach a maximum negative potentialafter arrival of a peak intensity of particles in a particle bunch,circulating as a group in the ring, at the gap exit side 2630, then thetrailing charged particles of the particle bunch are acceleratedrelative to the mean position of charged particles of the particle bunchresulting in: (1) focusing/tightening distribution of the circulatingparticle bunch by relative acceleration of a trailing edge of particlesin the particle bunch and (2) increasing the mean energy of thecirculating particle bunch. More particularly, using a phase matchedapplied radio-frequency field, a particle bunch is accelerated. However,a delayed phase of the applied radio-frequency accelerates trailingparticles of the particle bunch more than the acceleration of a meanposition of the particle bunch, which results in a different meanincreased velocity/energy of the particle bunch relative to an in-phaseacceleration of the particle bunch. In a second species case of theapplied radio-frequency phase shifted to reach a maximum negativepotential before arrival of a peak intensity of particles in theparticle bunch at the gap exit side 2630, then the leading chargedparticles of the particle bunch are accelerated less than the peakdistribution of the particle bunch resulting in: (1) focusing/tighteningdistribution of the circulating particle bunch and/or (2) anacceleration of the circulating particle bunch differing from anin-phase acceleration of the particle bunch.

Example II

Referring again to FIG. 26C, in a second genus of a larger potential atthe gap exit side 2630 relative to the gap entrance side 2620, using thesame logic of distribution edges of the bunch particles acceleratingfaster or slower relative to the mean velocity of the bunch particlesdepending upon relative strength of the applied field, the particlebunch is: (1) focused/tightened/distribution reduced and (2) edgedistributions of the particle bunch are accelerated or deceleratedrelative to deceleration of peak intensity particles of the particlebunch using appropriate phase shifting. For example, a particle bunchundergoes deceleration across the path gap 2610 when a voltage of thegap exit side 2630 is larger than a potential of the gap entrance side2620 and in the first case of the phase shifting the radio-frequency toinitiate a positive pulse before arrival of the particle bunch, theleading edge of the particle bunch is slowed less than the peakintensity of the particle bunch, which results in tighteningdistribution of velocities of particles in the particle bunch andreducing the mean velocity of the particle bunch to a differentmagnitude than that of a matched phase radio-frequency field due to therelative slowing of the leading edge of the particle bunch. As describedabove, relative deceleration, which is reduced deceleration versus themain peak of the particle bunch, is achieved by phase shifting theapplied radio-frequency field peak intensity to lag the peak intensityof particles in the particle bunch.

Example III

Referring again to FIG. 26A and FIG. 26B, optionally more than one pathgap 2610 is used in the synchrotron. Assuming an acceleration case foreach of a first path gap and a second path gap: (1) a phase trailingradio-frequency at the first path gap accelerates leading particles ofthe particle bunch less than acceleration of the peak intensity ofparticles of the particle bunch and (2) a phase leading radio-frequencyat the second path gap accelerates trailing particles of the particlebunch more than acceleration of the peak intensity of particles of theparticle bunch. Hence, first particles at the leading edge of theparticle bunch are tightened toward a mean intensity of the particlebunch and second particles at the trailing edge of the particle bunchare also tightened toward the mean intensity of the particle bunch,while the particle bunch as a whole is accelerated. The phase shiftingprocess is similarly reversed when deceleration of the particle bunch isdesired.

In addition to acceleration or deceleration of the beam using appliedvoltage with or without phase shifting the applied voltage, geometry ofthe gap entrance side 2620 and/or the gap exit side 2630 using one ormore path gaps 2610 is optionally used to radiallyfocus/tighten/distribution tighten the particle bunch. Referring now toFIG. 27, an example illustrates radial tightening of the particle bunch.In this example, a first path gap 2612 incorporates a first curvedgeometry, such as a convex exit side geometry 2712, relative toparticles exiting the first path gap 2612. The first curved surfaceyields increasingly convex potential field lines 2722, relative toparticles crossing the first path gap 2612, across the first path gap2612, which radially focuses the particle bunch. Similarly, a secondpath gap 2614 incorporates a second curved geometry or a concaveentrance side geometry 2714, relative to particles entering the secondpath gap 2614. The second curved surface yields decreasingly convexpotential field lines 2724 as a function of distance across the secondpath gap 2614, which radially defocuses the particle bunch, such as backto a straight path with a second beam radius, r₂, less than a first beamradius, r₁, prior to the first path gap 2612.

Dynamic Energy Adjustment

Referring again to FIG. 22A through FIG. 27, the energy of the treatmentbeam 269 is controllable using the step of beam alteration 2426. As theapplied voltage of the driving radio frequency field 2640 is optionallyvaried by less than 500, 200, 100, 50, 25, 10, 5, 2, or 1 volt and theapplied phase shift is optionally in the range of plus or minus any of:90, 45, 25, 10, 5, 2, or 1 percent of a period of the radio frequency,small changes in the energy of the treatment beam 269 are achievable inreal time. For example, the achieved energy of the treatment beam in therange of 30 to 330 MeV is adjustable at a level of less than 5, 2, 1,0.5, 0.1, 0.05, or 0.01 MeV using the beam adjustment system 2420. Thus,the treatment beam 269 is optionally scanned along the z-axis and/oralong a z-axis containing vector within the tumor 720 using the step ofbeam alteration 2422, described supra. Further, any imaging process ofthe tumor and/or the current position of the treatment beam 269, such asthe positron emission tracking system, is optionally used as a dynamicfeedback to the main controller 110 and/or the beam adjustment system2420 to make one or more fine or sub-MeV adjustments of an appliedenergy of the treatment beam 269 with or without interrupting beamoutput, such as with use of the accelerator system 131, dumping the beam2414, and/or loading the ring 124.

Multiple Beam Transport Lines

Referring now to FIG. 28 and FIG. 29, examples of a multi-beamlineselectable nozzle positioning system 2800 and a multiple beamlineimaging system 2900 of the beam transport system 135 are provided. Eachof the two examples are further described, infra.

Still referring to FIG. 28, the beam path 268, in a section of the beamtransport system 135 after the accelerator, is switched between n beamspaths passing into a single treatment room 2805 using a beam pathswitching magnet 2810, where n is a positive integer of at least 2, suchas 2, 3, 4, 5, 6, 7, or more. The single treatment room 2805 contains atleast a terminal end of each of a plurality of treatment beam lines,separated at the beam path switching magnet 2810, and optionallycontains the beam path switching magnet, beam focusing elements, and/orbeam turning magnets. As illustrated, at a first time, t₁, the beam path268 is switched to and transported by a first beam treatment line 2811.Similarly, at a second time, t₂, and third time, t₃, the beam path 268is selected by the beam path switching magnet 2810 into a second beamtreatment line 2812 and a third beam treatment line 2813, respectively.Herein, the beam treatment lines are also referred to as beam transportlines, such as when used to describe function and/or for imaging.Optionally, the single repositionable nozzle is moved between treatmentrooms.

Still referring to FIG. 28, each of the beam treatment lines 2811, 2812,2813, use at least some separate beam focusing elements and beam turningelements to, respectively, direct the beam path to the patient 730 fromthree directions. For example, the first beam treatment line 2811 uses afirst set of focusing elements 2821 and/or a first set of turningmagnets 2831, which are optionally of the same design as the bendingmagnet 132 or a similar design. Similarly, the third beam treatment line2813 uses a third set of focusing elements 2823 and/or a third set ofturning magnets 2833. As illustrated, the second beam treatment line2812 uses a second set of focusing elements 2822 and no turning magnets.Generally, each treatment line uses any number of focusing elements andany number of turning magnets to guide the respective beam path to thepatient 730 and/or the tumor 720, where at least one focusing elementand/or turning magnet is unique to each of the treatment lines.

Still referring to FIG. 28, one or more of the beam treatment lines,such as the first beam treatment line 2811, the second beam treatmentline 2812, and the third beam treatment line 2813, are staticallypositioned and use a single repositionable treatment nozzle 2840, whichis an example of the nozzle system 146, described supra. Moreparticularly, the single treatment nozzle 2840 optionally contains oneor more of the elements of the nozzle system 146 and/or the nozzlesystem 146 optionally and preferably attaches to the singlerepositionable nozzle 2840. Still more particularly, the repositionabletreatment nozzle 2840 is repositioned to a current beam treatment line.For example, as illustrated the repositionable treatment nozzle 2840 ismoved along an arc or pathway to a first terminus of the first beamtreatment line 2811 at the first time, t₁, to direct the treatment beam269 at the first time. Similarly, the repositionable treatment nozzle2840 is repositioned, such as along an arc, circle, or path, to a secondterminus position of the second beam treatment line 2812 at the secondtime, t₂, and to a third terminus position of the third beam treatmentline 2813 at the third time, t₃. Herein, the repositioning path isillustrated as a rotatable nozzle positioning support 2850, where therotatable nozzle positioning support rotates, such as under control ofthe main controller 110, about: a tumor position; a patient position; anisocentre of the multiple treatment beams 269 from the multiple beamtreatment lines, respectively; and/or an axis normal to an axis alignedwith gravity. The rotatable nozzle positioning support is optionallyreferred to as a nozzle gantry, where the nozzle gantry positions therepositionable treatment nozzle without movement of the individual beamtreatment lines. The inventor notes that current treatment nozzles arelarge/bulky elements that could spatially conflict with one anotherand/or conflict with a patient positioning system if a separatetreatment nozzle were implement on each of several beam treatment lines

Still referring to FIG. 28, any of the beam treatment lines areoptionally moved by a gantry, as described supra. However, the inventornotes that the nozzle is expensive compared to a beam treatment line,that design, engineering, use, and maintenance of a beamline movinggantry relative to a nozzle moving gantry is expensive, and thatprecision and accuracy of treatment is maintained or improved using thesingle repositionable treatment nozzle 2840. Hence, as illustrated, thefirst, second, and third beam treatment lines 2811, 2812, 2813 arestatically positioned and the single repositionable treatment nozzle2840 reduces cost.

Still referring to FIG. 28, each of the beam treatment lines, such asthe first, second, and third beam treatment lines 2811, 2812, 2813, incombination with the single repositionable treatment nozzle 2840 yieldsa treatment beam 269 along any axis. As illustrated, the first beamtreatment line 2811 yields a treatment beam 269 moving along an axisaligned with gravity imaging and/or treating the patient 730 from thetop down. Further, as illustrated, the second beam treatment line 2812is aligned along a horizontal axis and the third beam treatment line2813 yields a treatment beam moving vertically upwards. Generally, the ntreatment beams generate two or more treatment beams along anyx/y/z-axes that each pass through a voxel of the tumor, the tumor 720,and/or the patient 730. As illustrated, the second beam treatment line2812 and the third beam treatment line 2813 form an angle, a, through acrossing point of the two vectors in the patient 730 and preferably inthe tumor 720. Generally, two beam treatment lines form an angle ofgreater than 2, 5, 10, 25, 40, 45, or 65 degrees and less than 180, 178,175, 170, 155, 140, 135, or 115 degrees, such as 90±2, 5, 10, 25, or 45degrees.

Still referring to FIG. 28, use of the repositionable treatment nozzle2840, where the repositionable treatment nozzle 2840 is configured withthe first axis control 143, such as a vertical control, and the secondaxis control 144, such as a horizontal control, along with beamtransport lines leading to various sides of a patient allows the chargedparticle beam system 100 to operate without movement and/or rotation ofthe beam transport system 135 or the like and use of an associated beamtransport gantry 960 or the like. More particularly, by treating thepatient along two or more axes using the two or more bean transportlines described herein, a tumor irradiation plan is achievable usingonly the scanning control of one or more treatment nozzles without anecessity of a dynamically movable/rotatable beamline leading to atreatment position and an associated beamline gantry to move themovable/rotatable beamline.

Still referring to FIG. 28 and referring again to FIG. 29, themulti-beamline system selectable nozzle positioning system 2800 isfurther described and the multiple beamline imaging system 2900 isdescribed. Generally, the multiple beamline imaging system 2900optionally includes any of the elements of the multi-beamline systemselectable nozzle positioning system 2800 and vise-versa.

Referring now to FIG. 29, the multiple beamline imaging system 2800 isillustrated with a fourth beam treatment line 2814. The fourth beamtreatment line 2814 is guided by a fourth set of turning magnets 2834,that optionally and preferably contain beam focusing edge geometries,and optionally and preferably does not use independent focusingelements. As illustrated, the fourth beam treatment line 2814 generatesa treatment beam 269 at a third time, t₃, that intersects a common voxelof the tumor 720, using at least one set of magnet conditions in therepositionable treatment nozzle 2840, where the common voxel of thetumor 720 is additionally treated by at least one other beamline, suchas the second beam treatment line 2812 at a second time, t₂.

Referring still to FIG. 29, the multiple beamline imaging system 2900 isfurther illustrated with an imaging detector array 2910, which is anexample of the detector array coupled to the scintillation material 710in the tomography system, described supra. As illustrated, a rotatabledetector array support 2852, which is optionally the rotatable nozzlepositioning support, rotates around a point and/or a line to maintainrelative positions of the repositionable treatment nozzle 2840 and theimaging detector array 2910 on opposite sides of the tumor 720 and/orpatient 720 as a function of beam treatment line selection, which isoptionally and preferably controlled by the main controller 110.

Referring again to FIG. 28 and FIG. 29, the repositionable treatmentnozzle 2840 optionally contains any element of the scanning system 140or targeting system; the first axis control 143, such as a verticalcontrol; the second axis control 144, such as a horizontal control; thenozzle system 146; the beam control tray assembly 400 and/or functionthereof; and/or a sheet, such as the first sheet 760, of the chargedparticle beam state determination system 750.

Imaging with Multiple Beam Energies

Optionally, the sample, patient, and/or tumor is imaged using two ormore energies of the treatment beam 269. In analysis, resulting imagesor responses using a first beam energy and a second beam energy, of thetwo or more energies, are used in an analysis that removes at least onebackground signal or error from one or more voxels and/or pixels of theobtained images, such as by: taking a ratio of the two signals,calculating a difference between the two signals, by normalizing theimages, and/or by comparing the images. By comparing images, tomograms,values, and/or signals obtained with at least two incident beam energiesof the treatment beam 269, background interference is reduced and/orremoved. In the case of imaging a tumor, the process of comparingsignals with differing incident beam energies reduces and/or removesinterference related to skin, collagen, elastic, protein, albumin,globulin, water, urea, glucose, hemoglobin, lactic acid, cholesterol,fat, blood, interstitial fluid, extracellular fluid, intracellularfluid, a sample constituent, temperature, and/or movement of the sampleso that the intended element for imaging, such as the tumor, is enhancedin terms of at least one of resolution, accuracy, precision,identification, and spatial boundary. Residual energies are determinedusing a scintillation detector, as described supra, and/or an x-raydetector, as described infra.

Referring now to FIG. 30, a residual energy imaging system 3000 isdescribed. Generally, the residual energy imaging system 3000 includesthe processes of:

-   -   passing charged particle beams through the sample 3020, the        tumor 720, and/or the patient 730 as a function of beam energy,        time, and/or position;    -   using a residual energy measurement system 3030 to determine        residual energy of each of the particles beams after passing        through the sample, the tumor 720, and/or the patient 730; and    -   generating a new/modified image 3050 of a volume probed with the        charged particle beams.

Optionally, a residual beam history system 3005, such as determinedusing the above described steps, is used as an iterative input to anapplied energy determination system 3010, which determines from a modeland/or the residual beam history system 3005 a beam energy for passingthrough the sample resultant in a residual energy measured using theresidual energy measurement system 3030. Optionally, the step ofgenerating a new/modified image 3050 is used as input for a process ofgenerating a new/modified irradiation plan 3060, such as for treatingthe tumor 720 of the patient 730. To further clarify the residual energyimaging system 3000 and without loss of generality, the residual energyimaging system 3000 is further described using four examples, infra.

Example I

Still referring to FIG. 30 and referring now to FIG. 31A and FIG. 31B,the residual energy measurement system 3030 uses an X-ray detectionpanel 3032 to measure residual energy of the charged particles afterpassing through the sample. More particularly, an X-ray detectionelement and/or a traditional X-ray detection element is used to measurea non-X-ray beam, such as a proton beam. Still more particularly, theX-ray detection panel optionally and preferably uses an X-ray sensitivematerial, a proton beam sensitive material, a digitized scan of an X-rayfilm, and/or a digital two-dimensional X-ray detection system.

Referring still to FIG. 30 and FIG. 31A, the residual energy measurementsystem 3030 sequentially applies positively charged particles, such asprotons, at each of a set of energies 3110 to a given sample volume,where the set of energies 3110 contains 2, 3, 4, 5, 6, 7, 10, 15, ormore energies. As illustrated, a first energy, E₁, is passed through thetumor 720 of the patient 730 at a first time, t₁, and a first residualenergy, RE₁, is determined using the X-ray detection panel. The processis repeated, a second and third time, where, respectively, a secondenergy, E₂, and a third energy, E₃, are passed through the tumor 720 ofthe patient 730 at a second time, t₂, and a third time, t₃, and a secondresidual energy, RE₂, and a third residual energy, RE₃, are measuredusing the X-ray detection panel 3032 of the residual energy measurementsystem 3030. As illustrated, the first, second, and third incidentenergies are offset for clarity of presentation, whereas in practice thefirst, second, and third energies target the same volume of the sample.The energies of the set of energies 3110 are optionally predetermined ora new beam energy determination system 3040 is used to dynamicallyselect subsequent energies of the set of energies 3110, such as to filla missing position on a Gaussian curve fit of a response of the X-raydetection panel as a function of residual energy, such as an integralcharge in Coulombs or nanoCoulombs as a function of residualmegaelectronVolts, such as further described infra.

Referring still to FIG. 31A and again to FIG. 31B, output of the X-raydetection panel 3032 is plotted against the determined residualenergies, such as the first residual energy, RE₁, the second residualenergy, RE₂, and the third residual energy, RE₃ and are fit with acurve, such as a Gaussian curve. The energy corresponding to ahalf-height, such as a full width at half-height position, of theGaussian distribution 3130 is obtained and the continuous slowing downapproximation yields the water equivalent thickness of the probed sampleat the half-height position on the Gaussian distribution curve yieldinga measured water equivalent thickness of the probed sample.

The process of sequentially irradiating an input point of a sample withmultiple incident beam energies and determining respective residual beamenergies is optionally and preferably repeated as a function of incidentbeam position on the sample, such as across an m×n array, where m and nare positive integers of at least 2, 3, 4, 5, 6, 7, or more. Resultingdata is used in the step of generating a new/modified image 3050 and, inthe case of subsequent treatment, in the step of generating anew/modified irradiation plan 3060.

Example II

Referring again to FIG. 30 and referring now to FIG. 31C, the residualenergy measurement system 3030 is described using a non-linear stackedX-ray detection panel 3034 and beam energy modification step 3042 inplace of the X-ray detection panel 3032 and the new beam energydetermination system step 3040. In this example, the single beam pencilshot system of Lomax as described in U.S. Pat. No. 8,461,559 is modifiedto use a second use of the single pencil beam shot, where the secondshot terminates in a thinner detection layer, yielding enhancedprecision and accuracy of the residual energy. Particularly, referringnow to FIG. 31C, the set of uniform thickness detector layers of Lomaxis replaced with a non-uniform stack of detector layers 3034. Asillustrated, the non-uniform stack of detector layers decrease inthickness as a function of residual energy location, such as progressivethicknesses of 1, ½, ¼, ⅛ units, to yield enhanced resolution of theBragg peak energy through decreased error in the residual energy axis.Generally, a first beam at a first incident energy, E₁, is passedthrough the tumor 720 of the patient 730 at a first time, t₁, and theprofile of the Bragg peak is determined using the non-uniform detectorstack of detector layers 3034. Based upon the measured response profile,the beam energy modification step 3042 generates a second beam at asecond energy, E₂, where the second beam terminates in the more precisethinner layers of the non-uniform stack of detector layers 3034, whichyields a more robust Bragg peak profile due to a measured resultantrapid change in response over a set of small distances; the thinnerdetector layers. Generally, the first beam at the first beam energy, E₁,is used to measure a sample dependent response and to adjust the firstbeam energy to a second beam energy, E₂, to yield a more accuratemeasure of the sample. Generally, at least one layer of the non-linearstacked X-ray detection panel 3034 has a smaller thickness than a secondlayer of the non-linear stacked X-ray detection panel 3034, where thefirst layer is optionally positioned at a Bragg peak location based uponat least one earlier measurement of the sample and/or at least one priorcalculation.

Example III

Referring again to FIG. 30 and referring now to FIG. 31D, the residualenergy measurement system 3030 is described using a hybrid detectorsystem using a hybrid scintillation—X-ray panel 3036. Generally, thehybrid detector system uses one or more of the scintillation detectors,described supra, in combination with at least one of the X-ray detectionpanels 3032 used to detect a positively charged particle, as describedsupra. Generally, the scintillation material 710, upon passage of thepositively charge particle in a residual beam path, emits photons, suchas a first secondary photon 1722 and a second secondary photon 1724,which are detected using one or more scintillation detectors, such asthe third detector array 1703 and the fourth detector array 1704, whilethe residual beam penetrates to an X-ray/proton/positively chargedparticle sensitive material, such as the X-ray detection panel 3032,which yields additional beam path information and/or beam intensityinformation of the residual beam and/or incident beam and indirectly thesample.

Example IV

A further example of the residual energy imaging system 3000 using theresidual energy measurement system 3030 is provided.

Proton therapy benefits from an accurate prediction of applied ranges ofenergetic protons in human tissue, where the prediction converts X-rayCT Hounsfield Units (HUs) to proton relative stopping powers (RSPs),such as via an empirically derived look-up table specific to a given CTscanner. The conversion benefits from the patient tissue being wellmatched to a phantom in terms of chemical composition and density to thematerials used in deriving the look-up table. The errors in matching thetissue, such as changes in patient geometry, weight change, tumorgrowth, and misalignment, are removed if the tissue itself is used asthe phantom. Generally, the residual energy measurement system 3030allows for a verification of integral stopping power of the patient asseen by a proton pencil immediately prior to treatment. The technique isreferred to as Proton Transit Verification (PTV) Check. The integralrelative stopping power along the entirety of a beam path is hereafterreferred to as the water equivalent thickness (WET). The PTV Checkprovides the clinical team with information as to the accuracy ofdelivery of the treatment plan.

Measurement of the water equivalent thickness is optionally andpreferably achieved using a delivery of proton pencil beams with largeenough energies to completely traverse the patient and deposit a Braggpeak in a downstream radiation sensitive device. Herein, a dual-purposeflat panel imaging system is optionally used as the radiation detector,where the flat panel imaging system also forms part of the X-rayimaging/guidance system. The dual purpose flat panel imaging system isoptionally mounted to a treatment couch, such as a patient positioningsystem, via the rotating ring nozzle system, described supra, or arotating gantry. Optionally, the verification comprises delivery of agrid of pencil beams, such as using a predefined spacing and/or at thesame angle, within the confines of the corresponding proton treatmentfield. As described in the first example, the water equivalent thicknessis optionally determined at a given grid location via the process ofsequential delivery of several low intensity pencil beams of increasingenergy. A Gaussian distribution is fitted to a plot of detector signalas a function of pencil beam energy, as described supra. The energycorresponding to the half-height of the Gaussian distribution isobtained. The Continuous Slowing Down Approximation (CSDA) range of thisenergy provides the measured water equivalent thickness at this gridlocation. As described supra, a measured water equivalent thickness iscompared to a predicted water equivalent thickness. The latter iscalculated from the patient CT data, treatment plan parameters, and anenergy specific system water equivalent thickness. The difference inmeasured and a predicted water equivalent thickness is optionallypresented to the clinician via color coded dots overlaid on a patientimage. Exemplary procedures follow.

Procedure 1: Creating a PTV Check Field

-   -   1. determine an extent of spot positions in the treatment field        and place verification locations, such as at a predefined grid        spacing, within the extent of the treatment field;    -   2. obtain an estimate of the water equivalent thickness along a        ray tracing the central axis of the spots within the range probe        field;    -   3. determine the proton kinetic energy, such as with a        continuous slowing down approximation range corresponding to an        estimated water equivalent thickness;    -   4. obtain a refined water equivalent thickness including the        Gaussian profile of the pencil beam and multiple Coulomb        scattering (MCS) effects;    -   5. recalculate the energy of the pencil beam based on the        refined water equivalent thickness;    -   6. include additional pencil beams with CSDA ranges, such as        those corresponding to −4, −2, 2, 4 mm water equivalent        thickness around the nominal water equivalent thickness; and/or    -   7. set spot weights equal to the desired number of protons

Procedure 2: Processing and Displaying Results of PTV Check Field

After delivery of all spots in a pencil beam verification field, thetreatment console calls an analysis process. The analysis processoptionally comprises the following steps:

-   -   1. load the ion treatment plan;    -   2. process the current beam;    -   3. load flat panel output files for each spot;    -   4. integrated, for each spot, charges collected within a region        of interest centered on the spot location in the panel;    -   5. integrated charge and pencil beam energy are passed to a        Gaussian fitting function;    -   6. energy corresponding to the 50% drop of the Gaussian is        determined from the fitted parameters;    -   7. the continuous slowing down approximation range of the energy        obtained in Step 6 is used as the measured water equivalent        thickness for this grid location; and/or    -   8. the measured water equivalent thickness is compared to the        predicted water equivalent thickness.

Fiducial Marker

Fiducial markers and fiducial detectors are optionally used to locate,target, track, avoid, and/or adjust for objects in a treatment room thatmove relative to the nozzle or nozzle system 146 of the charged particlebeam system 100 and/or relative to each other. Herein, for clarity ofpresentation and without loss of generality, fiducial markers andfiducial detectors are illustrated in terms of a movable or staticallypositioned treatment nozzle and a movable or static patient position.However, generally, the fiducial markers and fiducial detectors are usedto mark and identify position, or relative position, of any object in atreatment room, such as a cancer therapy treatment room 1222. Herein, afiducial indicator refers to either a fiducial marker or a fiducialdetector. Herein, photons travel from a fiducial marker to a fiducialdetector.

Herein, fiducial refers to a fixed basis of comparison, such as a pointor a line. A fiducial marker or fiducial is an object placed in thefield of view of an imaging system, which optionally appears in agenerated image or digital representation of a scene, area, or volumeproduced for use as a point of reference or as a measure. Herein, afiducial marker is an object placed on, but not into, a treatment roomobject or patient. Particularly, herein, a fiducial marker is not animplanted device in a patient. In physics, fiducials are referencepoints: fixed points or lines within a scene to which other objects canbe related or against which objects can be measured. Fiducial markersare observed using a sighting device for determining directions ormeasuring angles, such as an alidade or in the modern era a digitaldetection system. Two examples of modern position determination systemsare the Passive Polaris Spectra System and the Polaris Vicra System(NDI, Ontario, Canada).

Referring now to FIG. 32A, use of a fiducial marker system 3200 isdescribed. Generally, a fiducial marker is placed 3210 on an object,light from the fiducial marker is detected 3230, relative objectpositions are determined 3240, and a subsequent task is performed, suchas treating a tumor 3270. For clarity of presentation and without lossof generality, non-limiting examples of uses of fiducial markers incombination with X-ray and/or positively charged particle tomographicimaging and/or treatment using positively charged particles areprovided, infra.

Example I

Referring now to FIG. 33, a fiducial marker aided tomography system 3300is illustrated and described. Generally, a set of fiducial markerdetectors 3320 detects photons emitted from and/or reflected off of aset of fiducial markers 3310 and resultant determined distances andcalculated angles are used to determine relative positions of multipleobjects or elements, such as in the treatment room 1222.

Still referring to FIG. 33, initially, a set of fiducial markers 3310are placed on one or more elements. As illustrated, a first fiducialmarker 3311, a second fiducial marker 3312, and a third fiducial marker3313 are positioned on a first, preferably rigid, support element 3352.As illustrated, the first support element 3352 supports a scintillationmaterial 710. As each of the first, second, and third fiducial markers3311, 3312, 3313 and the scintillation material 710 are affixed orstatically positioned onto the first support element 3352, the relativeposition of the scintillation material 710 is known, based on degrees offreedom of movement of the first support element, if the positions ofthe first fiducial marker 3311, the second fiducial marker 3312, and/orthe third fiducial marker 3313 is known. In this case, one or moredistances between the first support element 3352 and a third supportelement 3356 are determined, as further described infra.

Still referring to FIG. 33, a set of fiducial detectors 3320 are used todetect light emitted from and/or reflected off one or more fiducialmarkers of the set of fiducial markers 3310. As illustrated, ambientphotons 3221 and/or photons from an illumination source reflect off ofthe first fiducial marker 3311, travel along a first fiducial path 3331,and are detected by a first fiducial detector 3321 of the set offiducial detectors 3320. In this case, a first signal from the firstfiducial detector 3321 is used to determine a first distance to thefirst fiducial marker 3311. If the first support element 3352 supportingthe scintillation material 710 only translates, relative to the nozzlesystem 146, along the z-axis, the first distance is sufficientinformation to determine a location of the scintillation material 710,relative to the nozzle system 146. Similarly, photons emitted, such asfrom a light emitting diode embedded into the second fiducial marker3312 travel along a second fiducial path 3332 and generate a secondsignal when detected by a second fiducial detector 3322, of the set offiducial detectors 3320. The second signal is optionally used to confirmposition of the first support element 3352, reduce error of a determinedposition of the first support element 3352, and/or is used to determineextent of a second axis movement of the first support element 3352, suchas tilt of the first support element 3352. Similarly, photons passingfrom the third fiducial marker 3313 travel along a third fiducial path3333 and generate a third signal when detected by a third fiducialdetector 3323, of the set of fiducial detectors 3320. The third signalis optionally used to confirm position of the first support element3352, reduce error of a determined position of the first support element3352, and/or is used to determine extent of a second or third axismovement of the first support element 3352, such as rotation of thefirst support element 3352.

If all of the movable elements within the treatment room 1222 movetogether, then determination of a position of one, two, or threefiducial markers, dependent on degrees of freedom of the movableelements, is sufficient to determine a position of all of the co-movablemovable elements. However, optionally two or more objects in thetreatment room 1222 move independently or semi-independently from oneanother. For instance, a first movable object optionally translates,tilts, and/or rotates relative to a second movable object. One or moreadditional fiducial markers of the set of fiducial markers 3310 placedon each movable object allows relative positions of each of the movableobjects to be determined.

Still referring to FIG. 33, a position of the patient 730 is determinedrelative to a position of the scintillation material 710. Asillustrated, a second support element 3354 positioning the patient 730optionally translates, tilts, and/or rotates relative to the firstsupport element 3352 positioning the scintillation material 710. In thiscase, a fourth fiducial marker 3314, attached to the second supportelement 3354 allows determination of a current position of the patient730. As illustrated, a position of a single fiducial element, the fourthfiducial marker 3314, is determined by the first fiducial detector 3321determining a first distance to the fourth fiducial marker 3314 and thesecond fiducial detector 3322 determining a second distance to thefourth fiducial marker 3314, where a first arc of the first distancefrom the first fiducial detector 3321 and a second arc of the seconddistance from the second fiducial detector 3322 overlap at a point ofthe fourth fiducial marker 3334 marking the position of the secondsupport element 3352 and the supported position of the patient 730.Combined with the above described system of determining location of thescintillation material 710, the relative position of the scintillationmaterial 710 to the patient 730, and thus the tumor 720, is determined.

Still referring to FIG. 33, one fiducial marker and/or one fiducialdetector is optionally and preferably used to determine more than onedistance or angle to one or more objects. In a first case, asillustrated, light from the fourth fiducial marker 3314 is detected byboth the first fiducial detector 3321 and the second fiducial detector3322. In a second case, as illustrated, light detected by the firstfiducial detector 3321, passes from the first fiducial marker 3311 andthe fourth fiducial marker 3314. Thus, (1) one fiducial marker and twofiducial detectors are used to determine a position of an object, (2)two fiducial markers on two elements and one fiducial detector is usedto determine relative distances of the two elements to the singledetector, and/or as illustrated and described below in relation to FIG.35A, and/or (3) positions of two or more fiducial markers on a singleobject are detected using a single fiducial detector, where the distanceand orientation of the single object is determined from the resultantsignals. Generally, use of multiple fiducial markers and multiplefiducial detectors are used to determine or overdetermine positions ofmultiple objects, especially when the objects are rigid, such as asupport element, or semi-rigid, such as a person, head, torso, or limb.

Still referring to FIG. 33, the fiducial marker aided tomography system3300 is further described. As illustrated, the set of fiducial detectors3320 are mounted onto the third support element 3356, which has a knownposition and orientation relative to the nozzle system 146. Thus,position and orientation of the nozzle system 146 is known relative tothe tumor 720, the patient 730, and the scintillation material 710through use of the set of fiducial markers 3310, as described supra.Optionally, the main controller 110 uses inputs from the set of fiducialdetectors 3320 to: (1) dictate movement of the patient 730 or operator;(2) control, adjust, and/or dynamically adjust position of any elementwith a mounted fiducial marker and/or fiducial detector, and/or (3)control operation of the charged particle beam, such as for imagingand/or treating or performing a safety stop of the positively chargedparticle beam. Further, based on past movements, such as the operatormoving across the treatment room 1222 or relative movement of twoobjects, the main controller is optionally and preferably used toprognosticate or predict a future conflict between the treatment beam269 and the moving object, in this case the operator, and takeappropriate action or to prevent collision of the two objects.

Example II

Referring now to FIG. 34, a fiducial marker aided treatment system 3400is described. To clarify the invention and without loss of generality,this example uses positively charged particles to treat a tumor.However, the methods and apparatus described herein apply to imaging asample, such as described supra.

Still referring to FIG. 34, four additional cases of fiducialmarker-fiducial detector combinations are illustrated. In a first case,photons from the first fiducial marker 3311 are detected using the firstfiducial detector 3321, as described in the previous example. However,photons from a fifth fiducial marker 3315 are blocked and prevented fromreaching the first fiducial detector 3321 as a sixth fiducial path 3336is blocked, in this case by the patient 730. The inventor notes that theabsence of an expected signal, disappearance of a previously observedsignal with the passage of time, and/or the emergence of a new signaleach add information on existence and/or movement of an object. In asecond case, photons from the fifth fiducial marker 3315 passing along aseventh fiducial path 3337 are detected by the second fiducial detector3322, which illustrates one fiducial marker yielding a blocked andunblocked signal usable for finding an edge of a flexible element or anelement with many degrees of freedom, such as a patient's hand, arm, orleg. In a third case, photons from the fifth fiducial marker 3315 and asixth fiducial marker 3316, along the seventh fiducial path 3337 and aneighth fiducial path 3338 respectively, are detected by the secondfiducial detector 3322, which illustrates that one fiducial detectoroptionally detects signals from multiple fiducial markers. In this case,photons from the multiple fiducial sources are optionally of differentwavelengths, occur at separate times, occur for different overlappingperiods of time, and/or are phase modulated. In a fourth case, a seventhfiducial marker 3317 is affixed to the same element as a fiducialdetector, in this case the front surface plane of the third supportelement 3356. Also, in the fourth case, a fourth fiducial detector 3324,observing photons along a ninth fiducial path 3339, is mounted to afourth support element 3358, where the fourth support element 3358positions the patient 730 and tumor 720 thereof and/or is attached toone or more fiducial source elements.

Still referring to FIG. 34 the fiducial marker aided treatment system3400 is further described. As described, supra, the set of fiducialmarkers 3310 and the set of fiducial detectors 3320 are used todetermine relative locations of objects in the treatment room 1222,which are the third support element 3356, the fourth support element3358, the patient 730, and the tumor 720 as illustrated. Further, asillustrated, the third support element 3356 comprises a known physicalposition and orientation relative to the nozzle system 146. Hence, usingsignals from the set of fiducial detectors 3320, representative ofpositions of the fiducial markers 3310 and room elements, the maincontroller 110 controls the treatment beam 269 to target the tumor 720as a function of time, movement of the nozzle system 146, and/ormovement of the patient 730.

Example III

Referring now to FIG. 35A, a fiducial marker aided treatment room system3500 is described. Without loss of generality and for clarity ofpresentation, a zero vector 3501 is a vector or line emerging from thenozzle system 146 when the first axis control 143, such as a verticalcontrol, and the second axis control 144, such as a horizontal control,of the scanning system 140 is turned off. Without loss of generality andfor clarity of presentation, a zero point 3502 is a point on the zerovector 3501 at a plane of an exit face the nozzle system 146. Generally,a defined point and/or a defined line are used as a reference positionand/or a reference direction and fiducial markers are defined in spacerelative to the point and/or line.

Six additional cases of fiducial marker-fiducial detector combinationsare illustrated to further describe the fiducial marker aided treatmentroom system 3500. In a first case, the patient 730 position isdetermined. Herein, a first fiducial marker 3311 marks a position of apatient positioning device 3520 and a second fiducial marker 3312 marksa position of a portion of skin of the patient 730, such as a limb,joint, and/or a specific position relative to the tumor 720. In a secondcase, multiple fiducial markers of the set of fiducial markers 3310 andmultiple fiducial detectors of said set of fiducial detectors 3320 areused to determine a position/relative position of a single object, wherethe process is optionally and preferably repeated for each object in thetreatment room 1222. As illustrated, the patient 730 is marked with thesecond fiducial marker 3312 and a third fiducial marker 3313, which aremonitored using a first fiducial detector 3321 and a second fiducialdetector 3322. In a third case, a fourth fiducial marker 3314 marks thescintillation material 710 and a sixth fiducial path 3336 illustratesanother example of a blocked fiducial path. In a fourth case, a fifthfiducial marker 3315 marks an object not always present in the treatmentroom, such as a wheelchair 3540, walker, or cart. In a sixth case, asixth fiducial marker 3316 is used to mark an operator 3550, who ismobile and must be protected from an unwanted irradiation from thenozzle system 146.

Still referring to FIG. 35A, clear field treatment vectors andobstructed field treatment vectors are described. A clear fieldtreatment vector comprises a path of the treatment beam 269 that doesnot intersect a non-standard object, where a standard object includesall elements in a path of the treatment beam 269 used to measure aproperty of the treatment beam 269, such as the first sheet 760, thesecond sheet 770, the third sheet 780, and the fourth sheet 790.Examples of non-standard objects or interfering objects include an armof the patient couch, a back of the patient couch, and/or a supportingbar, such a robot arm. Use of fiducial indicators, such as a fiducialmarker, on any potential interfering object allows the main controller110 to only treat the tumor 720 of the patient 730 in the case of aclear field treatment vector. For example, fiducial markers areoptionally placed along the edges or corners of the patient couch orpatient positioning system or indeed anywhere on the patient couch.Combined with a-priori knowledge of geometry of the non-standard object,the main controller can deduce/calculate presence of the non-standardobject in a current or future clear field treatment vector, forming aobstructed field treatment vector, and perform any of: increasing energyof the treatment beam 269 to compensate, moving the interferingnon-standard object, and/or moving the patient 730 and/or the nozzlesystem 146 to a new position to yield a clear field treatment vector.Similarly, for a given determined clear filed treatment vector, a totaltreatable area, using scanning of the proton beam, for a givennozzle-patient couch position is optionally and preferably determined.Further, the clear field vectors are optionally and preferablypredetermined and used in development of a radiation treatment plan.

Referring again to FIG. 32A, FIG. 33, FIG. 34, and FIG. 35A, generally,one or more fiducial markers and/or one or more fiducial detectors areattached to any movable and/or statically positioned object/element inthe treatment room 1222, which allows determination of relativepositions and orientation between any set of objects in the treatmentroom 1222.

Sound emitters and detectors, radar systems, and/or any range and/ordirectional finding system is optionally used in place of thesource-photon-detector systems described herein.

2D-2D X-Ray Imaging

Still referring to FIG. 35A, for clarity of presentation and withoutloss of generality, a two-dimensional two-dimensional (2D-2D) X-rayimaging system 3560 is illustrated, which is representative of anysource-sample-detector transmission based imaging system. Asillustrated, the 2D-2D imaging system 3560 includes a 2D-2D source end3562 on a first side of the patient 730 and a 2D-2D detector end 3564 ona second side, an opposite side, of the patient 730. The 2D-2D sourceend 3562 holds, positions, and/or aligns source imaging elements, suchas: (1) one or more imaging sources; (2) the first imaging source 1312and the second imaging source 1322; and/or (3) a first cone beam X-raysource 1392 and a second cone beam X-ray source 1394; while, the 2D-2Ddetector end 3564, respectively, holds, positions, and/or aligns: (1)one or more imaging detectors 3566; (2) a first imaging detector and asecond imaging detector; and/or (3) a first cone beam X-ray detector anda second cone beam X-ray detector.

In practice, optionally and preferably, the 2D-2D imaging system 3560 asa unit rotates about a first axis around the patient, such as an axis ofthe treatment beam 269, as illustrated at the second time, t₂. Forinstance, at the second time, t₂, the 2D-2D source end 3562 moves up andout of the illustrated plane while the 2D-2D detector end 3564 movesdown and out of the illustrated plane. Thus, the 2D-2D imaging systemmay operate at one or more positions through rotation about the firstaxis while the treatment beam 269 is in operation without interferingwith a path of the treatment beam 269.

Optionally and preferably, the 2D-2D imaging system 3560 does notphysically obstruct the treatment beam 269 or associated residual energyimaging beam from the nozzle system 146. Through relative movement ofthe nozzle system 146 and the 2D-2D imaging system 3560, a mean path ofthe treatment beam 269 and a mean path of X-rays from an X-ray source ofthe 2D-2D imaging system 3560 form an angle from 0 to 90 degrees andmore preferably an angle of greater than 10, 20, 30, or 40 degrees andless than 80, 70, or 60 degrees. Still referring to FIG. 35A, asillustrated at the second time, t₂, the angle between the mean treatmentbeam and the mean X-ray beam is 45 degrees.

The 2D-2D imaging system 3560 optionally rotates about a second axis,such as an axis perpendicular to FIG. 35 and passing through the patientand/or passing through the first axis. Thus, as illustrated, as the exitport of the output nozzle system 146 moves along an arc and thetreatment beam 269 enters the patient 730 from another angle, rotationof the 2D-2D imaging system 3560 about the second axis perpendicular toFIG. 35, the first axis of the 2D-2D imaging system 3560 continues torotate about the first axis, where the first axis is the axis of thetreatment beam 269 or the residual charged particle beam 267 in the caseof imaging with protons.

Optionally and preferably, one or more elements of the 2D-2D X-rayimaging system 3560 are marked with one or more fiducial elements, asdescribed supra. As illustrated, the 2D-2D detector end 3564 isconfigured with a seventh fiducial marker 3317 and an eighth fiducialmarker 3318 while the 2D-2D source end 3562 is configured with a ninthfiducial marker 3319, where any number of fiducial markers are used.

In many cases, movement of one fiducial indicator necessitates movementof a second fiducial indicator as the two fiducial indicators arephysically linked. Thus, the second fiducial indicator is not strictlyneeded, given complex code that computes the relative positions offiducial markers that are often being rotated around the patient 730,translated past the patient 730, and/or moved relative to one or moreadditional fiducial markers. The code is further complicated by movementof non-mechanically linked and/or independently moveable obstructions,such as a first obstruction object moving along a first concentric pathand a second obstruction object moving along a second concentric path.The inventor notes that the complex position determination code isgreatly simplified if the treatment beam path 269 to the patient 730 isdetermined to be clear of obstructions, through use of the fiducialindicators, prior to treatment of at least one of and preferably everyvoxel of the tumor 720. Thus, multiple fiducial markers placed onpotentially obstructing objects simplifies the code and reducestreatment related errors. Typically, treatment zones or treatment conesare determined where a treatment cone from the output nozzle system 146to the patient 730 does not pass through any obstructions based on thecurrent position of all potentially obstructing objects, such as asupport element of the patient couch. As treatment cones overlap, thepath of the treatment beam 269 and/or a path of the residual chargedparticle beam 267 is optionally moved from treatment cone to treatmentcone without use of the imaging/treatment beam continuously as movedalong an arc about the patient 730. A transform of the standardtomography algorithm thus allows physical obstructions to theimaging/treatment beam to be avoided.

Isocenterless System

The inventor notes that a fiducial marker aided imaging system, thefiducial marker aided tomography system 3300, and/or the fiducial markeraided treatment system 3400 are applicable in a treatment room 1222 nothaving a treatment beam isocenter, not having a tumor isocenter, and/oris not reliant upon calculations using and/or reliant upon an isocenter.Further, the inventor notes that all positively charged particle beamtreatment centers in the public view are based upon mathematical systemsusing an isocenter for calculations of beam position and/or treatmentposition and that the fiducial marker aided imaging and treatmentsystems described herein do not need an isocenter and are notnecessarily based upon mathematics using an isocenter, as is furtherdescribed infra. In stark contrast, a defined point and/or a definedline are used as a reference position and/or a reference direction andfiducial markers are defined in space relative to the point and/or line.

Traditionally, the isocenter 263 of a gantry based charged particlecancer therapy system is a point in space about which an output nozzlerotates. In theory, the isocenter 263 is an infinitely small point inspace. However, traditional gantry and nozzle systems are large andextremely heavy devices with mechanical errors associated with eachelement. In real life, the gantry and nozzle rotate around a centralvolume, not a point, and at any given position of the gantry-nozzlesystem, a mean or unaltered path of the treatment beam 269 passesthrough a portion of the central volume, but not necessarily the singlepoint of the isocenter 263. Thus, to distinguish theory and real-life,the central volume, referring now to FIG. 35B, is referred to herein asa mechanically defined isocenter volume 3512, where under bestengineering practice the isocenter has a geometric center, the isocenter263. Further, in theory, as the gantry-nozzle system rotates around thepatient, the mean or unaltered lines of the treatment beam 269 at afirst and second time, preferably all times, intersect at a point, thepoint being the isocenter 263, which is an unknown position. However, inpractice the lines pass through the mechanically identified isocentervolume 3512. The inventor notes that in all gantry supported movablenozzle systems, calculations of applied beam state, such as energy,intensity, and direction of the charged particle beam, are calculatedusing a mathematical assumption of the point of the isocenter 263. Theinventor further notes, that as in practice the treatment beam 269passes through the mechanically defined isocenter volume 3512 but missesthe isocenter 263, an error exists between the actual treatment volumeand the calculated treatment volume of the tumor 720 of the patient 730at each point in time. The inventor still further notes that the errorresults in the treatment beam 269: (1) not striking a given volume ofthe tumor 720 with the prescribed energy and/or (2) striking tissueoutside of the tumor. Mechanically, this error cannot be eliminated,only reduced. However, use of the fiducial markers and fiducialdetectors, as described supra, removes the constraint of using anunknown position of the isocenter 263 to determine where the treatmentbeam 269 is striking to fulfill a doctor provided treatment prescriptionas the actual position of the patient positioning system, tumor 720,and/or patient 730 is determined using the fiducial markers and outputof the fiducial detectors with no use of the isocenter 263, noassumption of an isocenter 263, and/or no spatial treatment calculationbased on the isocenter 263. Rather, a physically defined point and/orline, such as the zero point 3502 and/or the zero vector 3501, inconjunction with the fiducials are used to: (1) determine positionand/or orientation of objects relative to the point and/or line and/or(2) perform calculations, such as a radiation treatment plan.

Referring again to FIG. 32A and referring again to FIG. 35A, optionallyand preferably, the task of determining the relative object positions3240 uses a fiducial element, such as an optical tracker, mounted in thetreatment room 1222, such as on the gantry or nozzle system, andcalibrated to a “zero” vector 3501 of the treatment beam 269, which isdefined as the path of the treatment beam when electromagnetic and/orelectrostatic steering of one or more final magnets in the beamtransport system 135 and/or an output nozzle system 146 attached to aterminus thereof is/are turned off. Referring again to FIG. 35B, thezero vector 3501 is a path of the treatment beam 269 when the first axiscontrol 143, such as a vertical control, and the second axis control144, such as a horizontal control, of the scanning system 140 is turnedoff. A zero point 3502 is any point, such as a point on the zero vector3501. Herein, without loss of generality and for clarity ofpresentation, the zero point 3502 is a point on the zero vector 3501crossing a plane defined by a terminus of the nozzle of the nozzlesystem 146. Ultimately, the use of a zero vector 3501 and/or the zeropoint 3502 is a method of directly and optionally actively relating thecoordinates of objects, such as moving objects and/or the patient 730and tumor 720 thereof, in the treatment room 1222 to one another; notpassively relating them to an imaginary point in space such as atheoretical isocenter than cannot mechanically be implemented inpractice as a point in space, but rather always as an a isocentervolume, such as an isocenter volume including the isocenter point in awell-engineered system. Examples further distinguish the isocenter basedand fiducial marker based targeting system.

Example I

Referring now to FIG. 35B, an isocenterless system 3505 of the fiducialmarker aided treatment room system 3500 of FIG. 35A is described. Asillustrated, the nozzle/nozzle system 146 is positioned relative to areference element, such as the third support element 3356. The referenceelement is optionally a reference fiducial marker and/or a referencefiducial detector affixed to any portion of the nozzle system 146 and/ora rigid, positionally known mechanical element affixed thereto. Aposition of the tumor 720 of the patient 730 is also determined usingfiducial markers and fiducial detectors, as described supra. Asillustrated, at a first time, t₁, a first mean path of the treatmentbeam 269 passes through the isocenter 263. At a second time, t₂,resultant from inherent mechanical errors associated with moving thenozzle system 146, a second mean path of the treatment beam 269 does notpass through the isocenter 263. In a traditional system, this wouldresult in a treatment volume error. However, using the fiducial markerbased system, the actual position of the nozzle system 146 and thepatient 730 is known at the second time, t₂, which allows the maincontroller to direct the treatment beam 269 to the targeted andprescription dictated tumor volume using the first axis control 143,such as a vertical control, and the second axis control 144, such as ahorizontal control, of the scanning system 140. Again, since the actualposition at the time of treatment is known using the fiducial markersystem, mechanical errors of moving the nozzle system 146 are removedand the x/y-axes adjustments of the treatment beam 269 are made usingthe actual and known position of the nozzle system 146 and the tumor720, in direct contrast to the x/y-axes adjustments made in traditionalsystems, which assume that the treatment beam 269 passes through theisocenter 263. In essence: (1) the x/y-axes adjustments of thetraditional targeting systems are in error as the unmodified treatmentbeam 269 is not passing through the assumed isocenter and (2) thex/y-axes adjustments of the fiducial marker based system know the actualposition of the treatment beam 269 relative to the patient 730 and thetumor 720 thereof, which allows different x/y-axes adjustments thatadjust the treatment beam 269 to treat the prescribed tumor volume withthe prescribed dosage.

Example II

Referring now to FIG. 35C an example is provided that illustrates errorsin an isocenter 263 with a fixed beamline position and a moving patientpositioning system. As illustrated, at a first time, t₁, themean/unaltered treatment beam path 269 passes through the tumor 720, butmisses the isocenter 263. As described, supra, traditional treatmentsystems assume that the mean/unaltered treatment beam path 269 passesthrough the isocenter 263 and adjust the treatment beam to a prescribedvolume of the tumor 720 for treatment, where both the assumed paththrough the isocenter and the adjusted path based on the isocenter arein error. In stark contrast, the fiducial marker system: (1) determinesthat the actual mean/unaltered treatment beam path 269 does not passthrough the isocenter 263, (2) determines the actual path of themean/unaltered treatment beam 269 relative to the tumor 720, and (3)adjusts, using a reference system such as the zero line 3501 and/or thezero point 3502, the actual mean/unaltered treatment beam 269 to strikethe prescribed tissue volume using the first axis control 143, such as avertical control, and the second axis control 144, such as a horizontalcontrol, of the scanning system 140. As illustrated, at a second time,t₂, the mean/unaltered treatment beam path 269 again misses theisocenter 263 resulting in treatment errors in the traditional isocenterbased targeting systems, but as described, the steps of: (1) determiningthe relative position of: (a) the mean/unaltered treatment beam 269 and(b) the patient 730 and tumor 720 thereof and (2) adjusting thedetermined and actual mean/unaltered treatment beam 269, relative to thetumor 720, to strike the prescribed tissue volume using the first axiscontrol 143, the second axis control 144, and energy of the treatmentbeam 269 are repeated for the second time, t₂, and again through then^(th) treatment time, where n is a positive integer of at least 5, 10,50, 100, or 500.

Referring again to FIG. 33 and FIG. 34, generally at a first time,objects, such as the patient 730, the scintillation material 710, anX-ray system, and the nozzle system 146 are mapped and relativepositions are determined. At a second time, the position of the mappedobjects is used in imaging, such as X-ray and/or proton beam imaging,and/or treatment, such as cancer treatment. Further, an isocenter isoptionally used or is not used. Still further, the treatment room 1222is, due to removal of the beam isocenter knowledge constraint,optionally designed with a static or movable nozzle system 146 inconjunction with any patient positioning system along any set of axes aslong as the fiducial marking system is utilized.

Referring now to FIG. 32B, optional uses of the fiducial marker system3200 are described. After the initial step of placing the fiducialmarkers 3210, the fiducial markers are optionally illuminated 3220, suchas with the ambient light or external light as described above. Lightfrom the fiducial markers is detected 3230 and used to determinerelative positions of objects 3240, as described above. Thereafter, theobject positions are optionally adjusted 3250, such as under control ofthe main controller 110 and the step of illuminating the fiducialmarkers 3220 and/or the step of detecting light from the fiducialmarkers 3230 along with the step of determining relative objectpositions 3240 is iteratively repeated until the objects are correctlypositioned. Simultaneously or independently, fiducial detectorspositions are adjusted 3280 until the objects are correctly placed, suchas for treatment of a particular tumor voxel. Using any of the abovesteps: (1) one or more images are optionally aligned 3260, such as acollected X-ray image and a collected proton tomography image using thedetermined positions; (2) the tumor 720 is treated 3270; and/or (3)changes of the tumor 720 are tracked 3290 for dynamic treatment changesand/or the treatment session is recorded for subsequent analysis.

The use of fiducials related to the zero line 3501 and/or the zero point3502 is further described. Generally, position of a set of fiducialelements, which are also referred to herein as a fiducial indicators,are determined relative to a line and/or point, such as the zero line3501 and/or the zero point 3502. Without loss of generality, anon-limiting example is used to further clarify the co-use of fiducialsand a known reference position.

Example I

Referring now to FIG. 36A, an example of the isocenterless system 3505is provided in a dual proton imaging/X-ray imaging system 3600. In thisexample, the exit nozzle, nozzle system 146, the zero line 3501, and thezero point 3502 are defined, as described supra. As the exit nozzle ismechanically affixed to the first fiducial detector 3321 and the secondfiducial detector 3321, the relative positions of the two fiducialdetectors 3321, 3322 to the exit nozzle system 146 are known, asdescribed supra. Further, the first fiducial marker 3311 and the secondfiducial marker 3312, attached to the scintillation material 710, incombination with the first and second fiducial detectors 3321, 3322 andtheir relationship to the exit nozzle or nozzle system 146 are useddetermine the position of the scintillation material 710 relative to thepatient, where the patient position is identified using further fiducialmarkers as described supra. Hence, the treatment beamline 269, which isthe zero line 3501 when the first and second axis controls 143, 144 areturned off, is precisely known relative to the patient 730 andscintillation material 710. Thus, using the residual charged particlebeam 267, images generated from the scintillation material 710 arealigned to the patient 730 without knowledge of or even existence of anisocenter point 263.

Example II

Referring still to FIG. 36A and referring now to FIG. 36B, an example ofuse of fiducial indicators on movable objects relative to the zero line3501 and the zero point 3502 is provided. As illustrated in FIG. 36A,the scintillation material 710 blocks particles, emitted as waves fromthe first imaging source 1312, such as a first X-ray source, and thesecond imaging source 1314, such as a second X-ray source, from reachingthe first detector array 1322 at a first time, t₁. At a second time, t₁,after retracting or sliding the scintillation material 710 out of thepath of X-rays, a position of the first detector array 1322 relative tothe patient 730, the exit nozzle or nozzle system 146, the first imagingsource 1312, and the second imaging source 1314 is determined usingfiducial indicators, as described supra. Hence, two 2-D X-ray images ofthe patient 730 and tumor thereof 720 are collected using: (1) the firstimaging source 1312 and a first cone beam 1392, (2) a second imagingsource 1314 and a second cone beam 1394, and (3) the first detectorarray 1322 allowing determination of a current position of the tumor 720relative to the zero line 3501 of the treatment beam 269, even when theexit nozzle or nozzle system 146 is moved or is moving, withoutknowledge of or even existence of an isocenter point 263. Particularly,the described isocenterless system 3505 optionally tracks a position ofthe patient 730 and tumor 720 thereof relative to the treatment beam 269using the zero line 3501.

Simultaneous/Single Patient Position X-Ray and Proton Imaging

Referring now to FIG. 37A, a simultaneous/single patient position X-rayand proton imaging system 3700 is illustrated. Generally, higher energyparticles pass through a lower energy detector, such as an X-raydetector, to a higher energy detector, such as a proton scintillationdetector or carbon ion scintillation detector. Simultaneously and/orwithout moving the lower energy detector, lower energy waves, such asX-rays, are detected using the lower energy detector, such as the X-raydetector positioned in front of the high energy detector. Herein, forclarity of presentation and without loss of generality, X-rays andprotons are used to illustrate the lower and higher energywaves/particles, respectively, used to image the sample, such as thetumor 720 of the patient 730.

Example I

In a first example, the patient 730 is positioned, such as through useof a couch or patient positioning system, between the sources and thedetectors.

Still referring to FIG. 37A, as illustrated, the patient 730 ispositioned between a source element support system 3710, such asdescribed above for holding an X-ray system element for producing,delivering, and/or targeting X-rays through the patient 730 to the firstdetector 1322, such as an X-ray film, digital X-ray detector, ortwo-dimensional detector. As illustrated, the first imaging source 1312,such as a first X-ray source or first cone beam X-ray source, and thesecond imaging source 1314, such as a second cone beam X-ray source,provide a first cone beam 1392 and a second cone beam 1394,respectively, that, after passing through the patient 730, are detectedusing one of more X-ray detectors, such as the first detector 1322.

Still referring to FIG. 37A, as illustrated, the patient 730 ispositioned, optionally and preferably at the same position used for theX-ray imaging, between the source element support system 3710, such asdescribed above for holding the nozzle system 146 and the scintillationmaterial 710. The nozzle system 146 is used for delivering and/ortargeting protons through the patient 730, where the residual chargedparticle beam transmits through the first detector 1322 to the seconddetector, such as the scintillation material 710.

Still referring to FIG. 37A, the two preceding paragraphs describe anX-ray imaging system and a proton imaging system. The X-ray imagingsystem and the proton imaging system: (1) are optionally usedsimultaneously, such as during time scales shorter than 1 msec, apatient twitch, or 1 sec; (2) are used at separate times without need tomove the first detector 1332, the X-ray detector, out of a path of theresidual charged particle beam 267 as the residual charged particle beam267 has sufficient energy to pass through the X-ray detector; (3)generate one or more X-ray images that are optionally combined with oneor more proton images; and/or (4) used to collect individualframes/slices of, respective, X-ray and proton tomography images.

Example II

Still referring to FIG. 37A, an X-ray detector is optionally used todetect positively charged particles, such as protons. As the mass of aproton is extremely large compared to an X-ray, a resolution enhancementover a traditional X-ray image is obtained as the protons scatter lessand/or differently than X-rays in transmittance through the patient 730.

Example III

Still referring to FIG. 37A, the X-ray detector is optionally used tosimultaneously detect X-rays and protons, yielding a physically obtainedX-ray/proton fused image by the response of the detector element itself,not necessitating a post processing step combining a first image, suchas an X-ray image with a second image, such as a proton image.

Example IV

Still referring to FIG. 37A, optionally and preferably fiducials, suchas described supra, are used to determine the relative position of thesource elements, the patient 730, and the detector elements, whererelative positions are used for targeting, imaging, and/or aligningresulting images.

Example V

Referring now to FIG. 37B, the simultaneous/single patient positionX-ray and proton imaging system 3700 is further illustrated withoptional beam position determination sheets, such as the first sheet 760and the second sheet 770 described above, which allow for a moreprecise, and with the use of fiducials, more accurate determination ofpaths of individual protons through the patient 730 and tumor 720thereof.

Example VI

Referring still to FIG. 37B, the simultaneous/single patient positionX-ray and proton imaging system 3700 is further illustrated with anoptional positively charged particle beam diffusing element 3720. Asdescribed above, a single proton is transmitted to the scintillationmaterial 710 at a given, typically very short, time period, which allowscalculation of a path of the proton through the patient 730. At the nextshort period of time, the process is repeated targeting another volumeof the patient 730. However, with a diffusing element 3720, the narrowdiameter proton beam, a necessity for a small synchrotron, is expandedor diffused by the diffusing element 3720, so that on average, thesingle proton calculations still work, but the system is multiplexed toallow detection of multiple protons simultaneously using the beamdetermination sheets and position of scintillation on the scintillationmaterial 710, which is optionally enhanced using the multiplexedscintillation detector 1600, where elements of the array ofscintillation sections 1610 are optionally physically separated. Thepositively charged particle beam diffusing element 3720 is optionally aproton dense material, such as a plastic, and/or a material changingdirection of an incident particle. The positively charged particle beamoptionally and preferably transmits through a section of the positivelycharged particle beam diffusing element 3720 comprising a set of atoms,where at least 10, 20, 30, 40, or 50 percent of said set of atomscomprise a form of hydrogen. With or without the diffusing element 3720,beam expander, or scattering material. Optionally, the nozzle system146, also referred to as an exit nozzle and/or particle beam exitnozzle, the scanning system 140, first axis control 143, the verticalcontrol, the second axis control 144, and/or the horizontal control arerapidly varied to distribute the treatment beam 269, and the resultantresidual charged particle beam 267, to perform pseudo multi-pleximaging, where the pseudo multi-plex imaging is not simultaneouslyirradiating separate quadrants of a detector array, but rather rapidlyscanning/switching between irradiation positions.

Multiplexed Proton Imaging

Referring now to FIG. 38A and FIG. 38B, a multiplexed proton imagingsystem 3800 is illustrated. For clarity of presentation, a proton isused in this section to represent a positively charged particle, such asC⁴⁺ or C⁶⁺. As a proton transmits through the patient 730, the protoninteracts with the patient 730 and is redirected and/or scattered from aprior vector to a posterior vector. As described, supra, a path of theproton is optionally determined using imaging sheets, which give offphotons upon passage of the proton, and photon detectors. However, therate of imaging is limited by scanning time associated with steering theproton beam and flux rate, as only one proton path at a time isdetermined due to the relaxation time of the imaging sheets andscintillation material 710. Imaging multiple proton pathssimultaneously, referred to as multiplexed proton imaging, is describedherein.

Still referring to FIG. 38A and FIG. 38B, multiple protons are directedby the nozzle system 146 along a given vector at a given time, whereherein a simultaneous time is a time period between passage of protonsless than a relaxation time of the imaging sheets, a relaxation time ofthe scintillation material 710, a fifty percent decay in flux of emittedphotons from an imaging sheet after passage of positively chargedparticles, and/or less than 0.1, 0.01, 0.001, 0.0001, 0.00001, 0.000001,0.0000001, or 0.00000001 seconds. The multiple protons in the protonbeam are expanded, radially, using a proton beam expander and/or asillustrated using the diffusing element 3720. For clarity ofpresentation, two proton paths are illustrated at a simultaneous time orfirst time, 6, but the number of paths simultaneously determined isoptionally greater than 2, 3, 4, 5, 10, 50, 100, or 1000. Asillustrated, a first prior path 3811 is determined using a first sheet760 coupled with a first detector 812 and a second sheet 770 opticallycoupled to a second detector 814. As the first sheet is two dimensionaland the first detector 812 is a detector array, a first prior pathposition of a first proton in the plane of the first sheet is optionallyand preferably determined at the same as a second prior path position ofa second proton in the plane of the first sheet. The process is repeatedusing the second sheet 770 and the second detector and the resultscombined to determine the first prior path 3811 and the second priorpath 3812 of the simultaneous first and second protons. Similarly, afirst posterior vector 3821 and a second posterior vector 3822 aredetermined using a third sheet 780 and a fourth sheet 790 and associateddetectors, not illustrated. As described, supra, the first prior vector3811 and the first posterior vector 3822 are used to calculate a firstprobable path 3831 of the first proton through the patient 730 and thesecond prior vector 3812 and the second posterior vector 3822 are usedto calculated a second probable path 3832 of the second proton throughthe patient 730. Differences in residual energy between the first protonand the second proton, as detected by depth of penetration into thescintillation material 710, yields additional information as to whatmaterials were encountered in the patient 730 along the first probablepath 3831 and the second probable path 3832, respectively.

Still referring to FIG. 38A and FIG. 38B, the efficiency ofmultiplexing, also referred to as the number of simultaneous proton pathdeterminations, increases as resolution of the detection systemincreases and/or as even expansion of the proton beam improves, such aswith a proton radial beam cross-section expander. Statistically, somesets of simultaneous protons will pass through a set of paths that arenot resolved, leading to a software discarding function removing thoseimaging elements. However, the simultaneous proton paths willprobabilistically vary at the next time, such as a second time, t₂, andeach time thereafter allowing an accumulation of accepted proton imagingpaths that increases at a rate faster than a series of individualmeasurements, such as acquired using a scanning proton beam and/or aslimited by relaxation times of the sheets, such as the first sheet 760,and the scintillation material 710 of a scintillation system. Notably,the multiplexed proton imaging system 3800 is optionally and preferablycombined with: (1) relative movement/rotation of the patient 730 andnozzle system 146 and associated generation of a three-dimensional imagethrough the use of tomography algorithms and/or (2) variation of anenergy of the protons from the synchrotron 130. The multiplexed protonimaging system 3800 is optionally used with the detector array 1410, theset of detector arrays 1700, and/or a non-uniform detector stack ofdetector layers 3034, described supra.

Double Exposure Imaging

Still referring to FIG. 37B, a method of double exposure imaging isdescribed. Herein, double exposure imaging is performed using hardware.While further processing of the resultant image is optionally andpreferably performed, the double exposure occurs at the detector levelthrough exposure to both X-rays and positively charged particles,simultaneously and/or in either order. Subsequent superimposition tooverlay an X-ray image and a positively charged particle image is notnecessary or required. An example illustrates double exposure imaging.

Example I

Still referring to FIG. 37B, an X-ray and positively charged particledouble exposure image is described. As described, supra, the firstdetector array 1322, responsive to X-rays, is exposed to X-rays, such asthe first cone beam 1392 and/or the second cone beam 1394, after passingthrough the patient 730. Before, after, and/or concurrently, the firstdetector array 1332 is exposed to the positively charged particles, suchas the residual charged particle beam 267, after passing through thepatient. Essentially, the first detector array 1322 comprises: (1) amaterial that is responsive to both X-rays and positively chargedparticles, such as protons or (2) comprises a composition of materials,where one component is responsive to X-rays and another component isresponsive to positively charged particles.

Typically, material of the first detector array 1332 is responsiveand/or designed for X-ray detection, but has a smaller, typically muchsmaller, responsivity to positively charged particles. For instance, fora given thickness of a material, the material may absorb 99% of theX-rays while 90% of incident protons transmit through the material.However, the 10% of the incident protons leave a physical responsebehind on the essentially X-ray film or slab, which is detected and usedto form the positively charged particle aspect of a particle-X-rayimage, denoted herein as a pX-double exposure image or pX-image.Generally, a proton interacts with a nucleus via a strong interaction,either elastically or inelastically. In the elastic interaction, theproton scatters at some angle while losing momentum. In the inelasticinteraction, the proton is absorbed in the interaction. The two types ofinteractions interact differently with detector materials. Further, thepositively charged particles interact with atomic electrons, whichresults in a small loss of energy of the proton while knocking anelectron out of orbit, such as to a higher energy level or to a freeelectron, either of which are detectable, such as from secondaryemission or electron capture, integration, and flow. The secondaryemission is an indirect measurement using a scintillator material that,responsive to transfer of energy from the X-ray and/or particle, emits aphoton that is detected using a traditional detector array, such as aphotodetector, photodiode array, CCD, and/or thin film transistor. Thethin film transistor is optionally additionally used to directly detectthe X-ray and/or charged particle. All detectors described herein areoptionally and preferably two-dimensional detector arrays. Alltwo-dimensional detector arrays described herein are optionally used,with relative rotation of the imaging beam and the sample, to generatethree-dimensional images, such as via tomography.

A first advantage of the X-ray and positively charged particle doubleexposure image is that both the X-ray and the positively chargedparticle are optionally delivered simultaneously or near simultaneously,such as within 0.001, 0.01, 0.1, 1, 2, 5, or 10 seconds of one another,which allows a double exposure of the patient in a fixed position, suchas between patient movement, respirations, and/or twitches, each ofwhich complicate overlaying images in software in terms of position,rotation, and non-linear distortion.

A second advantage of the X-ray and positively charged particle doubleexposure two-dimensional image is that the X-ray and the positivelycharged particles interact with different components of the patient 730and/or interact differently with the same components of the patient 730.Thus, the resultant image has more information than a purely X-rayimage, where the additional fully integrated signal, the pX-image,results from the interaction of the positively charged particles and thepatient 730.

Dual Exposure Imaging

Still referring to FIG. 37B, dual exposure imaging is described. Whiledouble exposure imaging, as used herein, exposes a detector materialusing both X-rays and positively charged particles, a dual exposureimage uses the positively charged particles to expose two detectors.

In one case, the positively charged particles expose the essentiallyX-ray detector to form the pX-image, and residual imaging particles3730, after passing through the pX-image detector, are detected using acharged particle detector, such as the scintillation material 710. Ifthe X-ray detector also uses scintillation, the X-ray detector isreferred to herein as a first scintillation material and thescintillation material 710 is referred to herein as a secondscintillation material. In the first case, the multitude of chargedparticles interact with the pX-image detector using any of themechanisms described above. In another case, a given charged particle,of an imaging set of the positively charged particles, interacts, suchas elastically, with the first essentially X-ray detector and proceedsto interact with the second scintillation material. Thus, as describedabove, a portion of the set of positively charged particles interactwith the pX-ray detector and an intersecting and/or non-intersectionportion of the set of positively charged particles interact with thescintillation material 710.

Multi-Beamline Isocenterless

Referring now to FIG. 39, a multiple beamline/multiple beamline positionisocenterless cancer treatment system 3900 is illustrated. For clarityof presentation and without loss of generality several examples areprovided to illustrate the multiple beamline/multiple beamline positionisocenterless cancer treatment system 3900. Further, for clarity ofpresentation and without loss of generality an isocenter 263 isillustrated, where the isocenter optionally refers to a central pointabout which a traditional gantry moves the beamline, an intendedintersection of beamline absent mechanical error, a crossing point oftwo or more beamline paths, such as at separate treatment times, a pointon an axis of rotation about which a treatment nozzle moves, a centralmathematically defined point used to calculate tumor treatmentirradiation times/does of individual tumor voxels and/or pathways toindividual tumor voxels, and/or a traditional point used as part of atransform to a separate axis system, such as according to equation 1,equation 2, and/or equation 3, where an isocenterless treatment plan(ICTP) and/or a calibrated beamline treatment plan (CBTP) comprises is atransform (T), which is a mathematical relationship and/or look-up tablecorrelation, of a treatment plan (TP), isocenter reference point definedtreatment plan (ITP), and/or doctor prescribed/defined treatment plan.

ICTP=TP^(T)  (eq. 1)

ICTP=ITP^(T)  (eq. 2)

CBTP=TP^(T)  (eq. 3)

CBTP=ITP^(T)  (eq. 4)

Example I

Referring now to FIG. 39, the proton beam path 268 is directed to thetreatment room 1222 along multiple paths. As illustrated, the protonbeam path 268 is split/redirected using a plurality of beam pathswitching magnets 2810, such as the illustrated first beam switchingmagnet 2815 and the second beam switching magnet directing the protonsalong a first beam treatment line 2811 at a first time, t₁, a secondbeam treatment line 2812 at a second time, t₂, and a third beamtreatment line 2813 at a third time, t₃, where the number of paths fromthe synchrotron 130 to the treatment room 1222 comprises any number ofpaths. As illustrated, in a first case, a first mean unredirectedbeamline 2841 of the first beam treatment line 2811 optionally passesthrough a traditional isocenter 263 but not through the tumor 720, suchas missing the tumor 720 by greater than 1, 2, 5, or 10 inches. In asecond case, a second mean unredirected beamline 2842 of the second beamtreatment line 2812 passes through the tumor 720 and subsequently passesthrough the isocenter 263. In a third case, a third unredirectedbeamline 2843 of the third treatment line 2813 does not pass through thetumor 720 or the isocenter 263, such as missing the tumor 720 and/or theisocenter 263 by greater than 1, 2, 3, 4, 5, 10, or 15 inches. However,as described in the next example, all voxels of the tumor 720 aretreatable, despite a blocking element, using a combination of steeringpaths of the first, second, and/or third beamlines.

Example II

Still referring to FIG. 39, treating a blocked or shielded position ofthe tumor 720 is described. As illustrated, the patient 730 is layingalong a z-axis into FIG. 39, where an arbitrary x/y plane isillustrated. If the patient were laying in the plane of FIG. 39, thefirst beamline 2811, the second beamline 2812, and/or the third beamlinewould optionally and preferably enter the treatment room 1222 along oneor more axial or radial axes relative to a longitudinal axis of thepatient 730 or within 75 degrees thereof and/or relative to alongitudinal axis of a spine of the patient, such as off of thex/y-plane by at least 15 degrees. As illustrated, the tumor 720 wrapsaround an obstructing object, such as a spine 721 of the patient. Whiletreatment of the tumor 720 on a proximal side of the spine 721, such asat the second time, is achieved using a treatment beam 269 that has aBragg peak, velocity, or energy that does not penetrate into the spine721, preferably, the treatment beam 269 does not pass through theobstructing object that is the spine 721 as illustrated. To treat thedistal side of the tumor, using the second beamline 2812 to defineproximal and distal, the first beamline 2811 and/or the third beamline2813 is used. As illustrated, the first beamline 2811, which has anominal path not intersecting the tumor 720, is steered using a steeringmagnet, such as the electromagnetic and/or electrostatic steering of oneor more final magnets in the beam transport system 135 described supra.Still referring to the first beamline 2811, the first mean unredirectedbeamline 2841 is steered to the proximal side of the tumor 720, such asas far as a first tangential path to a distal side, proximal side towardsecond beamline 2812, of the obstruction, the spine 721. Similarly, thesecond beamline 2812, which has a nominal path not intersecting thetumor 720 or the isocenter 263 is steered to intersect distal portionsof the tumor 720, such as as far as a second tangential path to aproximal or distal side of the obstruction or spine 721. Generally,offsetting the tumor 720, along a first axis and/or preferably along 2or three axes relative to the isocenter, toward a treatment nozzle, suchas along the illustrated x- and/or y-axis from a traditional isocenter263 toward the second beamline 2812, allows steering of a combination ofbeamline positions, such as the first beamline 2841 and the thirdbeamline 2843, to treat the obstructed, blocked, and/or shielded distalside of the tumor 720 behind the obstruction.

Example III

Still referring to FIG. 39, a low angle treatment system is illustrated.The inventor notes that the first undirected beamline 2841 and the thirdundirected beamline 2843, optionally and preferably form an angle ofless than 180 degrees, such as less than 170, 160, or 150 degrees, andmore preferably form an angle less than 90 degrees, such as less than88, 86, 84, 82, 80, 75, or 70 degrees, while still being able to treat ablocked tumor position allowing a smaller and less costly beamline,gantry, and/or treatment room. The inventor further notes that one ormore of the first, second, and third beamlines optionally have unsteeredangles not intersecting the tumor 720 and/or not intersecting atraditional isocenter of a treatment room. Herein, the angle of thebeamlines is based upon a projection into the viewed plane in the eventthat the beamlines do not intersect in three-dimensional space.

Example IV

Still referring to FIG. 39, a non-intersecting beamline system isillustrated. In various cases the first beamline 2841, the secondbeamline 2842, and/or the third beamline 2843 intersect at an isocenterpoint, intersect at a non-isocenter point, or cross in three dimensionalspace without intersecting. Similarly, two of the beamlines optionallyintersect while the third beamline does not or two beamlines intersectat one point and the third beamline intersects with one of the first twobeamlines at a second point. Generally, each of n beamlines or nbeamline positions have their own paths where one or more axes, such asa calibrated axis for each beamline, and/or one or more fiducial markersare used to define a treatment space with or without a transform relatedto a traditional isocenter, where n is a positive integer greater than1, 2, 3, 4, 5, or 10.

Example V

Still referring to FIG. 39, in an optional configuration, the singlerepositionable treatment nozzle 2840 is illustrated connecting, atseparate times, to the first beamline 2841, the second beamline 2842,and/or the third beamline 2843. Any of the beamlines optionally andpreferably use a first set of focusing elements 2821, a second set offocusing elements 2822, a first set of turning magnets 2831, and/or asecond set of turning magnets 2832, as described supra.

Example VI

Still referring to FIG. 39, the tumor 720 of the patient 730 isoptionally treated using simultaneous treatment along two of morebeamlines, such as the first beamline 2841, the second beamline 2842,and/or the third beamline 2843, where simultaneously comprises a timescales shorter than 0.001, 0.01, 0.1, 1, or 5 seconds. For the fastertime scales, optionally and preferably, a second treatment nozzle for asecond treatment line and or a third treatment nozzle for a thirdtreatment line is optionally used. The positively charged particle beamtransport path 268 from the beam transport system 135 is optionallyrapidly redirected between paths and/or a beam splitter is used.

Referenced Charged Particle Path

Referring again to FIG. 35C and FIG. 39 and referring now to FIG. 40 andFIG. 41, a charged particle reference beam path system 4000 isdescribed, which starkly contrasts to an isocenter reference point of agantry system, as described supra. The charged particle reference beampath system 4000 defines voxels in the treatment room 1222, the patient730, and/or the tumor 720 relative to a reference path of the positivelycharged particles and/or a transform thereof. The reference path of thepositively charged particles comprises one or more of: a zero vector, anunredirected beamline, an unsteered beamline, a nominal path of thebeamline, and/or, such as, in the case of a rotatable gantry and/ormoveable nozzle, a translatable and/or a rotatable position of the zerovectors, the first unredirected beamline 2841, the second unredirectedbeamline 2842, and/or the third unredirected beamline 2843. For clarityof presentation and without loss of generality, the terminology of areference beam path is used herein to refer to an axis system defined bythe charged particle beam under a known set of controls, such as a knownposition of entry into the treatment room 1222, a known vector into thetreatment room 1222, a first known field applied in the first axiscontrol 143, and/or a second known field applied in the second axiscontrol 144. Further, as described, supra, a reference zero point orzero point 3502 is a point on the reference beam path. More generally,the reference beam path and the reference zero point optionally refer toa mathematical transform of a calibrated reference beam path and acalibrated reference zero point of the beam path, such as a chargedparticle beam path defined axis system. The calibrated reference zeropoint is any point; however, preferably the reference zero point is onthe calibrated reference beam path and as used herein, for clarity ofpresentation and without loss of generality, is a point on thecalibrated reference beam path crossing a plane defined by a terminus ofthe nozzle of the nozzle system 146. Optionally and preferably, thereference beam path is calibrated, in a prior calibration step, againstone or more system position markers as a function of one or more appliedfields of the first known field and the second known field andoptionally energy and/or flux/intensity of the charged particle beam,such as along the treatment beam path 269. The reference beam path isoptionally and preferably implemented with a fiducial marker system andis further described infra.

Example I

In a first example, referring still to FIG. 40, the charged particlereference beam path system 4000 is further described using a radiationtreatment plan developed using a traditional isocenter axis system 4022.A medical doctor approved radiation treatment plan 4010, such as aradiation treatment plan developed using the traditional isocenter axissystem 4022, is converted to a radiation treatment plan using thereference beam path-reference zero point treatment plan. The conversionstep, when coupled to a calibrated reference beam path, uses an idealisocenter point; hence, subsequent treatment using the calibratedreference beam and fiducial indicators 4040 removes the isocenter volumeerror. For instance, prior to tumor treatment 4070, fiducial indicators4040 are used to determine position of the patient 730 and/or todetermine a clear treatment path 4050 to the patient 730. For instance,the reference beam path and/or treatment beam path 269 derived therefromis projected in software to determine if the treatment beam path 269 isunobstructed by equipment in the treatment room using known geometriesof treatment room objects and fiducial indicators 4040 indicatingposition and/or orientation of one or more and preferably all movabletreatment room objects. The software is optionally implemented in avirtual treatment system. Preferably, the software system verifies aclear treatment path, relative to the actual physical obstacles markedwith the fiducial indicators 4040, in the less than 5, 4, 3, 2, 1,and/or 0.1 seconds prior to each use of the treatment beam path 269and/or in the less than 5, 4, 3, 2, 1, and/or 0.1 seconds followingmovement of the patient positioning system, patient 730, and/oroperator.

Example II

In a second example, referring again to FIG. 41, the charged particlereference beam path system 4000 is further described.

Generally, a radiation treatment plan is developed 4020. In a firstcase, an isocenter axis system 4022 is used to develop the radiationtreatment plan 4020. In a second case, a system using the reference beampath of the charged particles 4024 is used to develop the radiationtreatment plan. In a third case, the radiation treatment plan developedusing the reference beam path 4020 is converted to an isocenter axissystem 4022, to conform with traditional formats presented to themedical doctor, prior to medical doctor approval of the radiationtreatment plan 4010, where the transformation uses an actual isocenterpoint and not a mechanically defined isocenter volume and errorsassociated with the size of the volume, as detailed supra. In any case,the radiation treatment plan is tested, in software and/or in a dry runabsent tumor treatment, using the fiducial indicators 4040. The dry runallows a real-life error check to ensure that no mechanical elementcrosses the treatment beam in the proposed or developed radiationtreatment plan 4020. Optionally, a physical dummy placed in a patienttreatment position is used in the dry run.

After medical doctor approval of the radiation treatment plan 4010,tumor treatment 4070 commences, optionally and preferably with anintervening step of verifying a clear treatment path 4052 using thefiducial indicators 4040. In the event that the main controller 110determines, using the reference beam path and the fiducial indicators4040, that the treatment beam 269 would intersect an object or operatorin the treatment room 1222, multiple options exist. In a first case, themain controller 110, upon determination of a blocked and/or obscuredtreatment path of the treatment beam 269, temporarily or permanentlystops the radiation treatment protocol. In a second case, optionallyafter interrupting the radiation treatment protocol, a modifiedtreatment plan is developed 4054 for subsequent medical doctor approvalof the modified radiation treatment plan 4010. In a third case,optionally after interrupting the radiation treatment protocol, aphysical transformation of a delivery axis system is performed 4030,such as by moving the nozzle system 146, rotating and/or translating thenozzle position 4034, and/or switching to another beamline 4036.Subsequently, tumor treatment 4070 is resumed and/or a modifiedtreatment plan is presented to the medical doctor for approval of theradiation treatment plan.

Automated Cancer Therapy Imaging/Treatment System

Cancer treatment using positively charged particles involvesmulti-dimensional imaging, multi-axes tumor irradiation treatmentplanning, multi-axes beam particle beam control, multi-axes patientmovement during treatment, and intermittently intervening objectsbetween the patient and/or the treatment nozzle system. Automation ofsubsets of the overall cancer therapy treatment system using robust codesimplifies working with the intermixed variables, which aids oversightby medical professionals. Herein, an automated system is optionallysemi-automated, such as overseen by a medical professional.

Example I

In a first example, referring still to FIG. 41 and referring now to FIG.42, a first example of a semi-automated cancer therapy treatment system4200 is described and the charged particle reference beam path system4000 is further described. The charged particle reference beam pathsystem 4000 is optionally and preferably used to automatically orsemi-automatically: (1) identify an upcoming treatment beam path; (2)determine presence of an object in the upcoming treatment beam path;and/or (3) redirect a path of the charged particle beam to yield analternative upcoming treatment beam path. Further, the main controller110 optionally and preferably contains a prescribed tumor irradiationplan, such as provided by a prescribing doctor. In this example, themain controller 110 is used to determine an alternative treatment planto achieve the same objective as the prescribed treatment plan. Forinstance, the main controller 110, upon determination of the presence ofan intervening object in an upcoming treatment beam path or imminenttreatment path directs and/or controls: movement of the interveningobject; movement of the patient positioning system; and/or position ofthe nozzle system 146 to achieve identical or substantially identicaltreatment of the tumor 720 in terms of radiation dosage per voxel and/ortumor collapse direction, where substantially identical is a dosageand/or direction within 90, 95, 97, 98, 99, or 99.5 percent of theprescription. Herein, an imminent treatment path is the next treatmentpath of the charged particle beam to the tumor in a current version of aradiation treatment plan and/or a treatment beam path/vector that isscheduled for use within the next 1, 5, 10, 30, or 60 seconds. In afirst case, the revised tumor treatment protocol is sent to a doctor,such as a doctor in a neighboring control room and/or a doctor in aremote facility or outside building, for approval. In a second case, thedoctor, present or remote, oversees an automated or semi-automatedrevision of the tumor treatment protocol, such as generated using themain controller. Optionally, the doctor halts treatment, suspendstreatment pending an analysis of the revised tumor treatment protocol,slows the treatment procedure, or allows the main controller to continuealong the computer suggested revised tumor treatment plan. Optionallyand preferably, imaging data and/or imaging information, such asdescribed supra, is input to the main controller 110 and/or is providedto the overseeing doctor or the doctor authorizing a revised tumortreatment irradiation plan.

Example II

Referring now to FIG. 42, a second example of the semi-automated cancertherapy treatment system 4200 is described. Initially, a medical doctor,such as an oncologist, provides an approved radiation treatment plan4210, which is implemented in a treatment step of delivering chargedparticles 4228 to the tumor 720 of the patient 730. Concurrent withimplementation of the treatment step, additional data is gathered, suchas via an updated/new image from an imaging system and/or via thefiducial indicators 4040. Subsequently, the main controller 110optionally, in an automated process or semi-automated process, adjuststhe provided doctor approved radiation treatment plan 4210 to form acurrent radiation treatment plan. In a first case, cancer treatmentshalts until the doctor approves the proposed/adjusted treatment plan andcontinues using the now, doctor approved, current radiation treatmentplan. In a second case, the computer generated radiation treatment plancontinues in an automated fashion as the current treatment plan. In athird case, the computer generated treatment plan is sent for approval,but cancer treatment proceeds at a reduced rate to allow the doctor timeto monitor the changed plan. The reduced rate is optionally less than100, 90, 80, 70, 60, or 50 percent of the original treatment rate and/oris greater than 0, 10, 20, 30, 40, or 50 percent of the originaltreatment rate. At any time, the overseeing doctor, medicalprofessional, or staff may increase or decrease the rate of treatment.

Example III

Referring still to FIG. 42, a third example of the semi-automated cancertherapy treatment system 4200 is described. In this example, a processof semi-autonomous cancer treatment 4220 is implemented. In starkcontrast with the previous example where a doctor provides the originalcancer treatment plan 4210, in this example the cancer therapy system110 auto-generates a radiation treatment plan 4226. Subsequently, theauto-generated treatment plan, now the current radiation treatment plan,is implemented, such as via the treatment step of delivering chargedparticles 4228 to the tumor 720 of the patient 730. Optionally andpreferably, the auto-generated radiation treatment plan 4226 is reviewedin an intervening and/or concurrent doctor oversight step 4230, wherethe auto-generated radiation treatment plan 4226 is approved as thecurrent treatment plan 4232 or approved as an alternative treatment plan4234; once approved referred to as the current treatment plan.

Generally, the original doctor approved treatment plan 4210, the autogenerated radiation treatment plan 4226, or the altered treatment plan4234, when being implemented is referred to as the current radiationtreatment plan.

Example IV

Referring still to FIG. 42, a fourth example of the semi-automatedcancer therapy treatment system 4200 is described. In this example, thecurrent radiation treatment plan, prior to implementation of aparticular set of voxels of the tumor 720 of the patient 730, isanalyzed in terms of clear path analysis, as described supra. Moreparticularly, fiducial indicators 4040 are used in determination of aclear treatment path 4050 prior to treatment along an imminent beamtreatment path to one or more voxels of the tumor 720 of the patient.Upon implementation, the imminent treatment vector is the treatmentvector in the deliver charged particles step 4228.

Example V

Referring still to FIG. 42, a fifth example of the semi-automated cancertherapy treatment system 4200 is described. In this example, a cancertreatment plan is generated semi-autonomously or autonomously using themain controller 110 and the process of semi-autonomous cancer treatmentsystem. More particularly, the process of semi-autonomous cancertreatment 4220 uses input from: (1) a semi-autonomously patientpositioning step 4222; (2) a semi-autonomous tumor imaging step 4224,and/or for the fiducial indicators 4040; and/or (3) a software coded setof radiation treatment directives with optional weighting parameters.For example, the treatment directives comprise a set of criteria to: (1)treat the tumor 720; (2) while reducing energy delivery of the chargedparticle beam outside of the tumor 720; minimizing or greatly reducingpassage of the charged particle beam into a high value element, such asan eye, nerve center, or organ, the process of semi-autonomous cancertreatment 4220 optionally auto-generates the original radiationtreatment plan 4226. The auto-generated original radiation treatmentplan 4226 is optionally auto-implemented, such as via the delivercharged particles step 4226, and/or is optionally reviewed by a doctor,such as in the doctor oversight 4230 process, described supra.

Optionally and preferably, the semi-autonomous imaging step 4224generates and/or uses data from: (1) one or more proton scans from animaging system using protons to image the tumor 720; (2) one or moreX-ray images using one or more X-ray imaging systems; (3) a positronemission system; (4) a computed tomography system; and/or (5) anyimaging technique or system described herein.

The inventor notes that traditionally days pass between imaging thetumor and treating the tumor while a team of oncologists develop aradiation plan. In stark contrast, using the autonomous imaging andtreatment steps described herein, such as implemented by the maincontroller 110, the patient optionally remains in the treatment roomand/or in a treatment position in a patient positioning system from thetime of imaging, through the time of developing a radiation plan, andthrough at least a first tumor treatment session.

Example VI

Referring still to FIG. 42, a sixth example of the semi-automated cancertherapy treatment system 4200 is described. In this example, the delivercharged particle step 4228, using a current radiation treatment plan, isadjusted autonomously or semi-autonomously using concurrent and/orinterspersed images from the semi-autonomously imaging system 4224 asinterpreted, such as via the process of semi-automated cancer treatment4220 and input from the fiducial indicators 4040 and/or thesemi-automated patient position system 4222.

Referring now to FIG. 43, a system for developing a radiation treatmentplan 4310 using positively charged particles is described. Moreparticularly, a semi-automated radiation treatment plan developmentsystem 4300 is described, where the semi-automated system is optionallyfully automated or contains fully automated sub-processes.

The computer implemented algorithm, such as implemented using the maincontroller 110, in the automated radiation treatment plan developmentsystem 4300 generates a score, sub-score, and/or output to rank a set ofauto-generated potential radiation treatment plans, where the score isused in determination of a best radiation treatment plan, a proposedradiation treatment plan, and/or an auto-implemented radiation treatmentplan.

Still referring to FIG. 43, the semi-automated or automated radiationtreatment plan development system 4300 optionally and preferablyprovides a set of inputs, guidelines, and/or weights to a radiationtreatment development code that processes the inputs to generate anoptimal radiation treatment plan and/or a preferred radiation treatmentplan based upon the inputs, guidelines, and/or weights. An input is agoal specification, but not an absolute fixed requirement. Input goalsare optionally and preferably weighted and/or are associated with a hardlimit. Generally, the radiation treatment development code uses analgorithm, an optimization protocol, an intelligent system, computerlearning, supervised, and/or unsupervised algorithmic approach togenerating a proposed and/or immediately implemented radiation treatmentplan, which are compared via the score described above. Inputs to thesemi-automated radiation treatment plan development system 4300 includeimages of the tumor 720 of the patient 730, treatment goals, treatmentrestrictions, associated weights to each input, and/or associated limitsof each input. To facilitate description and understanding of theinvention, without loss of generality, optional inputs are illustratedin FIG. 43 and further described herein by way of a set of examples.

Example I

Still referring to FIG. 43, a first input to the semi-automatedradiation treatment plan development system 4300, used to generate theradiation treatment plan 4310, is a requirement of dose distribution4320. Herein, dose distribution comprises one or more parameters, suchas a prescribed dosage 4321 to be delivered; an evenness or uniformityof radiation dosage distribution 4322; a goal of reduced overall dosage4323 delivered to the patient 730; a specification related tominimization or reduction of dosage delivered to critical voxels 4324 ofthe patient 730, such as to a portion of an eye, brain, nervous system,and/or heart of the patient 730; and/or an extent of, outside aperimeter of the tumor, dosage distribution 4325. The automatedradiation treatment plan development system 4300 calculates and/oriterates a best radiation treatment plan using the inputs, such as via acomputer implemented algorithm.

Each parameter provided to the automated radiation treatment plandevelopment system 4300, optionally and preferably contains a weight orimportance. For clarity of presentation and without loss of generality,two cases illustrate.

In a first case, a requirement/goal of reduction of dosage or evencomplete elimination of radiation dosage to the optic nerve of the eye,provided in the minimized dosage to critical voxels 4324 input is givena higher weight than a requirement/goal to minimize dosage to an outerarea of the eye, such as the rectus muscle, or an inner volume of theeye, such as the vitreous humor of the eye. This first case is exemplaryof one input providing more than one sub-input where each sub-inputoptionally includes different weighting functions.

In a second case, a first weight and/or first sub-weight of a firstinput is compared with a second weight and/or a second sub-weight of asecond input. For instance, a distribution function, probability, orprecision of the even radiation dosage distribution 4322 inputoptionally comprises a lower associated weight than a weight providedfor the reduce overall dosage 4323 input to prevent the computeralgorithm from increasing radiation dosage in an attempt to yield anentirely uniform dose distribution.

Each parameter and/or sub-parameter provided to the automated radiationtreatment plan development system 4300, optionally and preferablycontains a limit, such as a hard limit, an upper limit, a lower limit, aprobability limit, and/or a distribution limit. The limit requirement isoptionally used, by the computer algorithm generating the radiationtreatment plan 4310, with or without the weighting parameters, describedsupra.

Example II

Still referring to FIG. 43, a second input to the semi-automatedradiation treatment plan development system 4300, is a patient motion4330 input. The patient motion 4330 input comprises: a move the patientin one direction 4332 input, a move the patient at a uniform speed 4333input, a total patient rotation 4334 input, a patient rotation rate 4335input, and/or a patient tilt 4336 input. For clarity of presentation andwithout loss of generality, the patient motion inputs are furtherdescribed, supra, in several cases.

Still referring to FIG. 43, in a first case the automated radiationtreatment plan development system 4300, provides a guidance input, suchas the move the patient in one direction 4332 input, but a furtherassociated directive is if other goals require it or if a better overallscore of the radiation treatment plan 4310 is achieved, the guidanceinput is optionally automatically relaxed. Similarly, the move thepatient at a uniform rate 4333 input is also provided with a guidanceinput, such as a low associated weight that is further relaxable toyield a high score, of the radiation treatment plan 4310, but is onlyrelaxed or implemented an associated fixed or hard limit number oftimes.

Still referring to FIG. 43, in a second case the computer implementedalgorithm, in the automated radiation treatment plan development system4300, optionally generates a sub-score. For instance, a patient comfortscore optionally comprises a score combining a metric related to two ormore of: the move the patient in one direction 4332 input, the move thepatient at a uniform rate 4333 input, the total patient rotation 4334input, the patient rotation rate 4335 input, and/or the reduce patienttilt 4336 input. The sub-score, which optionally has a preset limit,allows flexibility, in the computer implemented algorithm, to yield onpatient movement parameters as a whole, again to result in patientcomfort.

Still referring to FIG. 43, in a third case the automated radiationtreatment plan development system 4300 optionally contains an input usedfor more than one sub-function. For example, a reduce treatment time4331 input is optionally used as a patient comfort parameter and alsolinks into the dose distribution 4320 input.

Example III

Still referring to FIG. 43, a third input to the automated radiationtreatment plan development system 4300 comprises output of an imagingsystem, such as any of the imaging systems described herein.

Example IV

Still referring to FIG. 43, a fourth optional input to the automatedradiation treatment plan development system 4300 is structural and/orphysical elements present in the treatment room 1222. Again, for clarityof presentation and without loss of generality, two cases illustratetreatment room object information as an input to the automateddevelopment of the radiation treatment plan 4310.

Still referring to FIG. 43, in a first case the automated radiationtreatment plan development system 4300 is optionally provided with apre-scan of potentially intervening support structures 4422 input, suchas a patient support device, a patient couch, and/or a patient supportelement, where the pre-scan is an image/density/redirection impact ofthe support structure on the positively charged particle treatment beam.Preferably, the pre-scan is an actual image or tomogram of the supportstructure using the actual facility synchrotron, a remotely generatedactual image, and/or a calculated impact of the intervening structure onthe positively charge particle beam. Determination of impact of thesupport structure on the charged particle beam is further described,infra.

Still referring to FIG. 43, in a second case the automated radiationtreatment plan development system 4300 is optionally provided with areduce treatment through a support structure 4344 input. As describedsupra, an associated weight, guidance, and/or limit is optionallyprovided with the reduce treatment through the support structure 4344input and, also as described supra, the support structure input isoptionally compromised relative to a more critical parameter, such asthe deliver prescribed dosage 4321 input or the minimize dosage tocritical voxels 4324 of the patient 730 input.

Example V

Still referring to FIG. 43, a fifth optional input to the automatedradiation treatment plan development system 4300 is a doctor input 4236,such as provided only prior to the auto generation of the radiationtreatment plan. Separately, doctor oversight 4230 is optionally providedto the automated radiation treatment plan development system 4300 asplans are being developed, such as an intervention to restrict anaction, an intervention to force an action, and/or an intervention tochange one of the inputs to the automated radiation treatment plandevelopment system 4300 for a radiation plan for a particularindividual.

Example VI

Still referring to FIG. 43, a sixth input to the automated radiationtreatment plan development system 4300 comprises information related tocollapse and/or shifting of the tumor 720 of the patient 730 duringtreatment. For instance, the radiation treatment plan 4310 isautomatically updated, using the automated radiation treatment plandevelopment system 4300, during treatment using an input of images ofthe tumor 720 of the patient 730 collected concurrently with treatmentusing the positively charged particles. For instance, as the tumor 720reduces in size with treatment, the tumor 720 collapses inward and/orshifts. The auto-updated radiation treatment plan is optionallyauto-implemented, such as without the patient moving from a treatmentposition. Optionally, the automated radiation treatment plan developmentsystem 4300 tracks dosage of untreated voxels of the tumor 720 and/ortracks partially irradiated, relative to the prescribed dosage 4321,voxels and dynamically and/or automatically adjusts the radiationtreatment plan 4310 to provide the full prescribed dosage to each voxeldespite movement of the tumor 720. Similarly, the automated radiationtreatment plan development system 4300 tracks dosage of treated voxelsof the tumor 720 and adjusts the automatically updated tumor treatmentplan to reduce and/or minimize further radiation delivery to the fullytreated and shifted tumor voxels while continuing treatment of thepartially treated and/or untreated shifted voxels of the tumor 720.

Intervening Object

As the positively charged particle beam travels along a treatment beampath in the treatment room 1222, in some situations the positivelycharged particle beam passes through an object, referred to herein as anintervening object, which decelerates and/or redirects the positivelycharged particles. Herein, predetermining an impact of the interveningobject on the positively charged particle beam is described andcompensating for the impact is described.

Referring now to FIG. 44, a method for determining an impact of anobject 4400 on the positively charged particle beam is described.Herein, an intervening object 4410 is any inanimate and/ornon-biological object in the treatment room 1222 between an exit surfaceof the nozzle system 146 and a terminal point of the charged particlebeam in the tumor as determined by the Bragg peak. Examples ofintervening objects 4410 comprise: a patient couch, a patient supportelement, an implant, an embedded element in the patient 730, and/or aprosthesis. Parameters defining the intervening object 4410 and/or thephysical intervening object 4410 itself is provided to the method fordetermining an impact of an object 4400.

Still referring to FIG. 44, in a first case, the intervening object 4410is pre-scanned 4420, such as with an X-ray system, a positron emissionsystem, and/or a positively charged particle beam system. For example, athree-dimensional (3D) computed tomography (CT) proton beam image of theintervening object is obtained. In the radiation treatment plan 4310,described supra, a determination is made for each treatment beam, of aset of treatment beam covering relative motion and/or translation of thenozzle system and the patient, whether or not the charged particle beamwill traverse the intervening object 4410 and if so, what cross-sectionof the intervening object 4410 is traversed at each position along apathway through the intervening object 4410. For each voxel of theintervening object 4410 along the treatment path, a deceleration and/orredirection/scattering of the treatment beam is calculated. Byintegrating the impact of the intervening object 4410 across the voxelstraversed, a total deceleration and/or net direction/scattering changeof the positively charged particle beam is predetermined. Subsequently,in a generation of the radiation treatment plan step 4440 or in theauto-generate the radiation treatment plan step 4226, the incidentenergy of the positively charged particles for each incident treatmentvector of the radiation treatment plan 4310 is adjusted to increase theenergy of the initial charged particle beam to compensate for the lossof energy or deceleration of the positively charged particle beamresultant from passage through the intervening object. Similarly, in thegeneration of the radiation treatment plan step 4440 or in theauto-generate the radiation treatment plan step 4226, the incidentvector/direction of the positively charged particles for each incidenttreatment vector of the radiation treatment plan 4310 is adjusted tocompensate for redirection of the initial charged particle beam toaccount for redirection of the treatment beam resultant from passagethrough the intervening object.

Still referring to FIG. 44 and still referring to the first case ofpre-scanning the object 4420, two approaches are used to measure theimpact of the intervening object 4410 on the positively charged particlebeam. In a first approach, the initial energy and direction of atreatment beam mimic traverses an actual treatment path 4424 through theintervening object 4410 and a residual energy and/or altered directionof the treatment beam mimic is measured, such as with the tomographyapparatus and/or tomography imaging system described supra. In thisfirst approach, the energy and/or vector of a particular incidenttreatment beam is adjusted to compensate for a directly measured impactof the intervening object 4410 on the particular incident treatment beamto yield a planned treatment beam in the radiation treatment plan. In asecond approach, the 3D CT image of the intervening object 4410 is usedto calculate impact to a transformed and/or proposed incident treatmentpath 4424 through the intervening object 4410, where the proposedincident treatment path is a combination of voxels crossing many layersof the 3D CT image of the intervening object. Similar to the firstapproach, in the second approach, a residual energy and/or altereddirection of the proposed treatment path is adjusted to compensate forthe calculated impact, using real image data, of the intervening object4410 on the proposed incident treatment beam to yield a plannedtreatment beam in the radiation treatment plan. The first case findsparticular utility for standard items, such as a standard implanteditem, or for an item readily available in the treatment room, such as apatient support/positioning/movement system element.

Still referring to FIG. 44, in a second case, impact of the interveningobject 4410 on the positively charged particle treatment beam ispre-calculated 4430 using known physical properties. For example,physical parameters such as material type, material density, and shapeof the intervening object 4410 are coded into a 3D model of theintervening object 4410. Similar to the first case, the 3D model of theintervening object 4410 is used to determine a deceleration and/oraltered direction of a proposed treatment path and the model data isused to adjust a proposed treatment beam to a planned treatment beamthat accounts for the purely calculated impact of the intervening object4410 on the treatment beam. One method of pre-calculating impact of theintervening object 4410 on a treatment beam is via use of finite elementanalysis 4432. The second case finds particular utility for compensatingfor an implanted object, such as a hip replacement, titanium bonesupport, plate, fastener, or other medically implanted item, especiallya custom implant.

Still referring to FIG. 44, in a third case, an actual image, such as a3D CT image, of the intervening object 4410 is combined with model basedcalculations of impact of the intervening object 4410 on an incidentparticle beam, such as through use of known physical materialproperties, chemical properties, physical shape, and/orchemical/physical state of the intervening object. The resulting hybridmeasured-calculated impact of the intervening object 4410 on a proposedtreatment beam is used to generate an actual treatment beam vector inthe radiation treatment plan 4310, which is generated 4440 and/orauto-generated 4226.

Automated Adaptive Treatment

Referring now to FIG. 45, a system for automatically updating theradiation treatment plan 4500 and preferably automatically updating andimplementing the radiation treatment plan is illustrated. In a firsttask 4510, an initial radiation treatment plan is provided, such as theauto-generated radiation treatment plan 4226, described supra. The firsttask is a startup task of an iterative loop of tasks and/or recurringset of tasks, described herein as comprising tasks two to four. In asecond task 4520, the tumor 720 is treated using the positively chargedparticles delivered from the synchrotron 130. In a third task 4530,changes in the tumor shape and/or changes in the tumor position relativeto surrounding constituents of the patient 730 are observed, such as viaany of the imaging systems described herein. The imaging optionallyoccurs simultaneously, concurrently, periodically, and/or intermittentlywith the second task while the patient remains positioned by the patientpositioning system. The main controller 110 uses images from the imagingsystem(s) and the provided and/or current radiation treatment plan todetermine if the treatment plan is to be followed or modified. Upondetected relative movement of the tumor 720 relative to the otherelements of the patient 730 and/or change in a shape of the tumor 730, afourth task 4540 of updating the treatment plan is optionally andpreferably automatically implemented and/or use of the radiationtreatment plan development system 4300, described supra, is implemented.The process of tasks two to four is optionally and preferably repeated ntimes where n is a positive integer of greater than 1, 2, 5, 10, 20, 50,or 100 and/or until a treatment session of the tumor 720 ends and thepatient 730 departs the treatment room 1222.

Automated Treatment

Referring now to FIG. 46, an automated cancer therapy treatment system4600 is illustrated. In the automated cancer therapy treatment system4600, a majority of tasks are implemented according to a computer basedalgorithm and/or an intelligent system. Optionally and preferably, amedical professional oversees the automated cancer therapy treatmentsystem 4600 and stops or alters the treatment upon detection of an errorbut fundamentally observes the process of computer algorithm guidedimplementation of the system using electromechanical elements, such asany of the hardware and/or software described herein. Optionally andpreferably, each sub-system and/or sub-task is automated. Optionally,one or more of the sub-systems and/or sub-tasks are performed by amedical professional. For instance, the patient 730 is optionallyinitially positioned in the patient positioning system by the medicalprofessional and/or a tray insert 510 is loaded into a tray assembly 400by the medical professional. Optional and preferably automated, such ascomputer algorithm implemented, sub-tasks include one or more andpreferably all of:

-   -   receiving the treatment plan input 4300, such as a prescription,        guidelines, patient motion guidelines 4330, dose distribution        guidelines 4320, intervening object 4310 information, and/or        images of the tumor 720;    -   using the treatment plan input 4300 to auto-generate a radiation        treatment plan 4226;    -   auto-positioning 4222 the patient 730;    -   auto-imaging 4224 the tumor 720;    -   implementing medical profession oversight 4238 instructions;    -   auto-implementing the radiation treatment plan 4520/delivering        the positively charged particles to the tumor 720;    -   auto-reposition the patient 4521 for subsequent radiation        delivery;    -   auto-rotate a nozzle position 4522 of the nozzle system 146        relative to the patient 730;    -   auto-translate a nozzle position 4523 of the nozzle system 146        relative to the patient 730;    -   auto-verify a clear treatment path using an imaging system, such        as to observe presence of a metal object or unforeseen dense        object via an X-ray image;    -   auto-verify a clear treatment path using fiducial indicators        4524;    -   auto control a state of the positively charge particle beam        4525, such as energy, intensity, position (x,y,z), duration,        and/or direction;    -   auto-control a particle beam path 4526, such as to a selected        beamline and/or to a selected nozzle;    -   auto implement positioning a tray insert 510 and/or tray        assembly 400;    -   auto-update a tumor image 4610;    -   auto-observe tumor movement 4530; and/or    -   generate an auto-modified radiation treatment plan 4540/new        treatment plan.

Beam-Gantry Rotation

As a gantry rotates a rotatable beamline about a gantry-axis ofrotation, the orientation of a charged particle beam shape, of thecharged particles in the beamline, to the magnets in the rotatablebeamline changes. The change is orientation of the charged particle beamshape relative to guiding magnets results in a change in dispersiveforces or dispersion as a function of rotation of the rotatable beamlineabout the gantry-axis, which widens, disperses, and/or spreads thecharged particle beam resulting in decreased accuracy and decreasedprecision of targeting a tumor voxel with the treatment beam. Correctiveapparatus and methods are described herein.

Referring again to FIG. 19A, a beam transport system 135 is illustratedas supported by the gantry 960, where for clarity of presentation only asection of the gantry is illustrated. As illustrated, as the gantryrotates about the gantry rotation axis 1811, a rotatable section of thebeam transport system is also rotated, preferably co-rotated with thegantry 960, about the gantry rotation axis 1811, which moves the dynamicgantry nozzle 610 and/or the nozzle system 146. As illustrated, thenozzle system 146 directs the beam downward into the patient 730.

Referring now to FIG. 47A and still referring to FIG. 19A, at a firsttime, t₁, the nozzle system 146 directs the charged particle beamdownward into the patient 730 along a first longitudinal z-axis of thecharged particle beam, such as toward the isocenter 263. As the gantry960 rotates, such as a figurative rotation path 4710, the rotatablesection of the beam transport system 135 rotates the nozzle system 146,such as to a second position at a second time, t₂, resulting in thenozzle system 146 directing the charged particle beam along a secondlongitudinal z-axis. Similarly, at a third time, t₃, the rotatablesection of the beam transport system 135 directs the charged particlesalong a third longitudinal z-axis, such as along a horizontal plane.

Referring now to FIG. 47B and still referring to FIG. 47A, anon-circular charged particle beam cross-section 4740 is illustratedbetween elements of a first magnet 4730 in the rotatable section of thebeam transport system. As illustrated, at the first time, t₁, the beamcross-section comprises a first shape relative to the first magnet 4730resulting in a first set of non-dispersive forces acting on the beam anda first set of dispersive forces acting on the beam. At the second time,t₂, the non-rotated beam shape 4740 comprises a second shape relative tothe first magnet 4730 resulting in a second set of non-dispersive forcesacting on the beam and a second set of dispersive forces acting on thebeam. As the dispersive forces orthogonal to an applied magnetic field,such as crossing a gap in the beam transport housing 320, differ betweenthe first-set of dispersive forces and the second set of dispersiveforces, the cross-sectional shape of the charged particle beam willturn, bend, focus, and/or defocus differently at the first time and thesecond time while passing through the same magnet. Similarly, at thethird time, t₃, the non-rotated beam shape 4740 comprises a third shape,such as a third set of cross-sectional beam shapes across the gap, thatexperiences a third set of dispersive forces differing from the firstand second set of dispersive forces, resultant in a third net change inbeam shape, direction, and/or focusing in the first magnet 4730.Referring again to FIG. 1C, one or more of the focusing magnets 141 andbending magnets 142 in the beam transport system 135 optionally rotatewith the gantry 960. As a result, the differing dispersive forcesexperienced at the magnet 4730 are compounded by the resulting set ofbeam shapes as a function of time experiencing additional dispersiveforces at a second, third, fourth, . . . , n^(th) focusing magnet 141and/or bending magnet 142 or even the by magnetic fields used to scanthe beam in the first axis control 143 and/or the second axis control144. Indeed, the dispersive differences/errors stack enough to miss atargeted volume of the tumor 720 and/or even to crash sections of thebeam into walls of the beam transport housing 320.

Referring now to FIG. 47C and FIG. 47D, a beam rotation system 4700 isdescribed that pre-rotates the charged particle beam to remove changingdispersive forces and/or changing dispersion as a function of rotationof magnets, such as rotation of the first magnet 4730, relative to anon-circular beam shape across the gap, such as an ellipticalcross-sectional beam shape and/or any geometric shape that is not aperfect circle. In one case, in a position in the beam transport system135 that does not rotate with the gantry and is prior to the rotatablesection of the beam transport system 135, a solenoid 4760 is used toapply a magnetic field across a beam path between sides of the beamtransport housing 320, referred to herein as an axial gap. Asillustrated, the solenoid 4760 passes a current along/through a firstcoil or first winding 4766 and/or a second coil or second winding 4768to generate a magnetic field traveling around the first winding 4766and/or second winding 4768 to yield a magnetic field axially crossingthe axial gap yielding non-dispersive forces and dispersive forces onthe charged particle beam passing longitudinally, in/out of FIG. 47C asillustrated, through the solenoid 4760. As the solenoid 4760 ispositioned in the beam transport system 135 prior to the rotatablesection of the beam transport system, the solenoid 4760 is optionallyand preferably controlled, such as by timing, duration, and magnitude ofan applied current through the first winding 4766 and second winding4768, to pre-rotate, via use of the dispersive forces, the axialcross-section of the charged particle beam as a function of rotation ofthe rotatable section of the beam transport system to maintain aconstant, accurate, and/or precise axial beam shape of the chargedparticle beam relative to magnets in the rotatable section of the beamtransport system, such as the first magnet 4730. For example, at thefirst time, t₁, the elliptically shaped cross-section of the beam isrotated/maintained with the, as illustrated, main axis being horizontal.At the second time, t₂, the solenoid 4760 is controlled, such as byapplying a second applied current, to yield a magnetic field withdispersive forces sufficient to rotate the cross section of the chargedparticle beam to a second angle, forty-five degrees of rotation asillustrated, to match the rotation of the rotatable section of the beamtransport system 135 and/or the first magnet 4730, such as rotated to amatching forty-five degrees. Similarly, at the third time, t₃, thesolenoid 4760 is used to rotate the charged particle beam to a thirdrotation position or third orientation. As illustrated in FIG. 47D, therotation of the charged particle beam maintains a fixed orientation ofthe charged particle beam, illustrated figuratively, relative torotation of nozzle system 146, which optionally co-rotates with therotatable section of the beam transport system 135. Generally, anyrotation angle and/or any number of rotations of the charged particlebeam are achieved using a magnetic field applied across the chargedparticle beam to maintain a shape of the beam relative to a rotatingmagnet surface, such as a magnet about the beam transport path or theaxial gap. Further, while the charged particle beam is illustrated asrotating clockwise, at any time, the charged particle beam is optionallyrotated in the opposite direction by reversing a direction of the flowof current along the winding coils. The main controller 110, such as byuse of the current radiation treatment plan, rotates the chargedparticle beam to maintain relative beam shape as viewed by an appliedmagnetic field in the beam transport system. As a result, a beam size ismaintained allowing an accurate delivery of the charged particles to aselected voxel of the tumor.

Integrated Imaging-Cancer Treatment System

Referring now to FIG. 48, FIGS. 49(A-D), and FIG. 50, an example of anintegrated imaging/cancer treatment system is provided.

Referring again to FIG. 48, the integrated imaging/cancer treatmentsystem 4800 is further described. Generally, the main controller 110controls imaging of the tumor 720 of the patient 730 and uses resultingimages from the imaging system(s) to control treatment of the tumor 720of the patient 730 in a tumor treatment process 10.

Still referring to FIG. 48, the integrated imaging/cancer treatmentsystem 4800 optionally and preferably generates one or more images ofthe patient 730 using a relative imaging system-patient translationsystem 4810, where the imaging system, such as a two-dimensional imagingsystem, translates past the patient or vise-versa; a series of imagesare collected as a function of relative translation; and athree-dimensional image of the tumor 720 of the patient 730 is generatedfrom the resulting two-dimensional scans. In one particular case, atranslation imaging system 4812 translates the imaging system past thepatient 730, such as while the patient 730 is statically positioned in atumor treatment position. Notably, the patient 730 and the relativeimaging system-patient translation system 4810 are optionally both movedduring the imaging process by a patient positioning system tore-orientate the patient relative to a positively charged particlecancer treatment beam, such that both the imaging system and patient 730are re-positioned by a robot arm with or without the simultaneousprocess of the translation of the imaging system relative to the patient730, as further described infra.

Still referring to FIG. 48, similarly, the integrated imaging/cancertreatment system 4800 optionally and preferably generates one or moreimages of the patient 730 using a relative imaging system-patientrotation system 4820, where the imaging system, such as atwo-dimensional imaging system, rotates relative to the patient orvise-versa; a series of images are collected as a function of relativerotation; and a three-dimensional image of the tumor 720 of the patient730 is generated from the collected images. In one particular case, arotation imaging system 4822 revolves the imaging system, such as thesource and detector, around the patient 730, such as while the patient730 is statically positioned in a tumor treatment position. Again, therelative patient-imaging rotation optionally occurs with the patientremaining still relative to a revolving imaging system while both therevolving imaging system and patient 730 are moved by a roboticpositioning system relative to a proton treatment beam or nozzle system146, as further described infra.

Still referring to FIG. 48, the main controller 110 optionally andpreferably controls a process of positioning the charged particle beamsystem 4830 using output from the relative imaging system-patienttranslation system 4810 and/or the relative imaging system-patientrotation system 4820, such as using images: obtained prior to treatment,obtained during treatment to confirm a position of the tumor 720,obtained during treatment and used to alter a radiation treatment planof the tumor 720, as described supra.

Referring again to FIGS. 49(A-D), imaging system elements of theintegrated imaging/cancer treatment system 4800 are further described.For clarity of presentation of the imaging system and without loss ofgenerality, the cancer treatment elements are not illustrated. However,the imaging system and cancer treatment systems are shown in anintegrated system, FIG. 50, as further described infra.

Still referring to FIG. 49A, a combined patient positioningsystem-imaging system 4900 is described. Generally, the combined patientpositioning system-imaging system 4900 comprises a joint imaging/patientpositioning system 4910 and a translation/rotation imaging system 4920.The joint imaging/patient positioning system 4910 co-moves or jointlymoves the translation/rotation imaging system 4920 and the patient 730as both a patient support 4914 and the translation/rotation imagingsystem 4920 are attached to an end of a robotic arm used to position thepatient relative to a proton treatment beam, as further described infra.

Still referring to FIG. 49A, the joint imaging/patient positioningsystem 4910 is further described. The joint imaging/patient positioningsystem 4910 allows movement of the patient 730 along one or more of: anx-axis, a y-axis, and a z-axis. Further, the patient positioning system4910 allows yaw, tilt, and roll of the patient as well as rotation ofthe patient 730 relative to a point in space, such as one or morerotation axes passing through the joint imaging/patient positioningsystem 4910 and/or an isocenter point 263 of a treatment room. Forclarity of presentation and without loss of generality, all permutationsand combinations of patient movement relative to a treatment proton beamline are illustrated with a base unit 4912, such as affixed to a flooror wall of the treatment room; an attachment unit 4916, of thetranslation/rotation imaging system 4920; and a multi-element roboticarm section 4918 connecting the base unit 4912 and the attachment unit4916.

Still referring to FIG. 49A, the translation aspect of thetranslation/rotation imaging system 4920 is further described. Thetranslation/rotation imaging system 4920 comprises ring or asource-detector rotational positioning unit 4922, an imaging systemsource support 4924, a first imaging source 1312, an imaging systemdetector support 4926, and a first detector array 1322. The imagingsystem source support 4924 is used to move a source, such as the firstimaging source 1312, of the translation/rotation imaging system 4920 andthe detector support 4926 is used to move a detector, such as the firstdetector array 1322, of the translation/rotation imaging system 4920.For clarity of presentation and without loss of generality, the firstimaging source 1312 is used to represent any one or more of the imagingsources described herein and the first detector array 1322 is used torepresent one or more of the imaging detectors described herein. Asillustrated, in a first case, the imaging source 1312, such as an X-raysource, moves past the patient on the imaging system source support4924, such as under control of the main controller directing a motor ordrive to move the imaging source 1312 along a guide, drive system, orrail. In the illustrated case, the source-detector rotationalpositioning unit 4922 is connected to an element, such as the patientsupport 4914, that is positioned relative to the nozzle system 146and/or treatment beam path 269. However, the source-detector rotationalpositioning unit 4922 is optionally connected to the attachment element4916. Optionally, the patient support 4914 uses a firstelectromechanical interface 4932 that moves the translation/rotationimaging system 4920 relative to the patient support 4914 and hence thepatient 730. Optionally, the first electromechanical interface 4932 is asolid/connected element and a second electromechanical interface 4934and a third electromechanical interface 4936 are used to move theimaging system source support 4924 and the imaging system detectorsupport 4926, respectively, relative to the patient support 4914 andhence the patient 730. Generally, any mechanical/electromechanicalsystem is used to connect the source-detector rotational positioningunit 4922 to the attachment unit 4916 and/or an intervening connector,such as the patient support 4914 or a secondary attachment unit 4940, asfurther described infra.

Referring again to FIG. 49B, an alternative, exemplary and non-limitingexample connection between the source-detector rotational positioningunit 4922 and the attachment unit 4916 is illustrated. As illustrated,an optional secondary attachment unit 4940 is affixed, directly orindirectly, to patient support 4914. One or both of the patient support4914 and the secondary attachment unit 4940 are attached to theattachment unit 4916 of the patient positioning system 4910. Asillustrated, the attachment unit 4916 passes through an opening or slotin the secondary attachment unit 4940 and is affixed to the patientsupport 4914. Further, as illustrated, the secondary attachment unit isattached to the source-detector rotational positioning unit 4922 using afourth electromechanical interface 4938, which is optionally used inplace of the first electromechanical interface 4932 and/or the secondand third electromechanical interfaces 4934, 4936. Similar to the systemillustrated in FIG. 49A, the source-detector rotational positioning unit4922 moves relative to: (1) the secondary attachment unit and (2) theattachment unit 4916 of the joint imaging/patient positioning system4910, resulting in translation of the imaging source 1312 and firstdetector array 1322 relative to the patient 730. Notably, the patientsupport 4914 and/or patient 730 optionally pass into and/or through anaperture 4923 through the source-detector rotational positioning unit4922 as further described, infra.

In practice, any of the first through fourth electromechanicalconnectors 4932, 4934, 4936, 4938 function to move a first elementrelative to a second element, such as along a track/rail and/or anymechanically guiding system, such as driven by a belt, gear, motor,and/or any motion driving source/system.

Still referring to FIG. 49B, optionally, the imaging system sourcesupport 4924 extends/retracts away/toward the attachment unit, whichresults in translation of the X-ray source past the patient 730.Similarly, as illustrated, the first detector array 1322, such as antwo-dimensional X-ray detector panel, moves past the patient on theimaging system detector support 4926, such as under control of the maincontroller directing a motor or drive to move the first detector array1322, such as an X-ray detector panel, along a guide, drive system, orrail. Optionally, the imaging system detector support 4926extends/retracts away/toward the source-detector rotational positioningunit 4922, which results in translation of the X-ray detector past thepatient 730.

Referring again to FIG. 49A, the interface of the translation/rotationimaging system 4920 and the patient support 4914 to the jointimaging/patient positioning system 4910 is described. Essentially, asthe attachment unit 4916 of the joint imaging/patient positioning system4910 is directly connected/physically static relative to both thetranslation/rotation imaging system 4920 and the patient support 4914,as the imaging/patient positioning system 4910 moves the patient support4914 the entire translation/rotation imaging system 4920 moves with thepatient support. Thus, no net difference in position between thetranslation/rotation imaging system 4920 and the patient 730 or patientsupport 4914 results as the joint imaging/patient positioning system4910 positions the patient 730 relative to the positively chargedparticle tumor treatment beam 269 and/or nozzle system 146. However,individual elements of the translation/rotation imaging system 4920 areallowed to move relative to the patient 730, such as in the translationmovements described above and the rotation movements described below.

Referring again to FIG. 35A and FIG. 49A, the imaging source 1312 andone or more imaging detectors 3566, in FIG. 35A, and the first detectorarray 1322, in FIG. 35B, rotate around the patient in and out of thepage. Particularly, referring still to FIG. 35A, the first imagingsource 1312 and the one or more imaging detectors 3566 rotate around thepatient 730; at time two, t₂, rotation, in FIG. 35A, is around zerovector 3501, the nominal positively charged particle beam path or lineemerging from the nozzle system 146. Similarly, referring again to FIG.35B, the first imaging source 1312 and the first detector array 1322rotate around the patient 730 and the patient support 4914. Moreprecisely, both: (1) the first imaging source 1312 and the imagingsystem source support 4924 and (2) the first detector array 1322 and theimaging system detector support 4926, while connected to thesource-detector positioning unit, rotate about patient support 4914 andthe patient 730 as further described below and as illustrated in FIG.50. Just as illustrated in FIG. 35A, all of: (1) the first imagingsource 1312, (2) the imaging system source support 4924, (3) the firstdetector array 1322, and (4) the imaging system detector support 4926,optionally and preferably rotate around the patient 730 independent ofmovement of the patient, relative to a current position of thepositively charged particle treatment beam passing through the nozzlesystem 146, using the imaging/patient positioning system 4910.

Referring again to FIG. 49C, the rotation aspect of thetranslation/rotation imaging system 4920 is further described. Therotation aspect of the translation/rotation imaging system 4920 uses thering and/or the source-detector rotational positioning unit 4922 torotate around the patient 730: the first imaging system 1312, theimaging system source support 4924, the first detector array 1322, andthe imaging system detector support 4926. As illustrated from an end onview, relative to FIG. 49A, the imaging system source support 4924,carrying the first imaging source 1312, is attached and/or moves onand/or along a first path 4925, comprising a first mean distance for acentral point, such as a point on a rotation axis. Similarly, theimaging system detector support 4926, carrying the first detector array1322, is attached and/or moves on and/or along the first path 4925 or asecond path 4927, comprising a second mean distance for the centralpoint. Movement of the imaging system detector support 4926 and thefirst detector array 1322 is optionally independent from movement of theimaging system source support 4924 and the first imaging source 1322,which allows the first detector array 1322 to be positioned to detectX-rays from the first imaging source 1322 after transmitting through thepatient, such as at the first time, t₁, at a first rotational positionrelative to the patient 730 and at the second time, t₂, at a secondrotational position relative to the patient 730. Generally, the firstimaging source 1312 and the first detector array 1322, are positioned atany position from 0 to 360 degrees around the patient 730. In the caseof the first mean distance differing from the second mean distance, theimaging system detector support 4926 and the first detector array 1322are optionally parked in front of, or behind, the imaging system sourcesupport 4924 and the first imaging source 1312, such as when not in useand/or such as when needed to avoid collision with another element inthe treatment room 1222, as illustrated at the third time, t₃.

Referring again to FIG. 49D, the translation and rotation aspects of thetranslation/rotation imaging system 4920 is further described with amovable ring option. With the movable ring option, the source-detectorrotational positioning unit 4922 slides and/or is driven along a ringslide 4940 into any longitudinal position of the ring slide. Thus, thesource-detector rotational positioning unit 4922 is slidably andcircumferentially positioned around different longitudinal sections ofthe patient 730 laying on the patient support 4914. For clarity ofpresentation, only the first imaging source 1312 is illustrated attachedto the source-detector rotational positioning unit 4922. As illustrated,the first imaging source 1312 is positioned at a first longitudinalposition and at a first rotational position relative to the patient 730laying on the patient support at a first time, t₁, and at a secondlongitudinal position and at a second rotational position relative tothe patient 730 laying on the patient support at a second time, t₂. Theinventor notes that all of the other components of thetranslation/rotation imaging system 4920 optionally and preferably movewith the source-detector rotational position unit 4922 with any of therelative motions described supra.

Referring again to FIG. 50, an example of the imaging system 170, apatient imaging system 5010 is provided, where the patient imagingsystem 5010 comprises: (1) an attachment/attachment element directlyand/or indirectly attached to the attachment unit 4916 and (2) anyimaging system and/or any imaging system element described herein

Referring still to FIG. 50, the integrated imaging/cancer treatmentsystem 4800 is illustrated with sections of all of: (1) the patientpositioning system 4910, (2) the translation/rotation imaging system4920, and (3) charged particle beam system 100/cancer treatment system.As illustrated, at a first time, t₁, the treatment beam 269, movingalong a z-axis and/or treatment beam axis and passes between the firstimaging source 1312 and the first detector array 1322 while passingthrough the patient 730. Optionally, proton tomography is performed byincreasing energy of the incident beam and detecting the residualcharged particle beam 267, after transmitting through the patient 730,with the scintillation material 710, scintillation detector, or otherproton/positively charged particle detection systems described supra. Atthe same time or at another time, preferably with the patient 730 in atreatment position on the patient support 4914, the first imaging source1312, the imaging system source support 4924, the first detector array1322, and the imaging system detector support 4926 are optionally in userotating around and/or translating past the patient 730. As illustratedat the second time, t₂, since movement of the nozzle system 146 isindependent from movement of the combined patient positioningsystem/imaging system 4900, the treatment beam 269 optionally passes atany angle relative to a line about which the imaging system rotates.

Generally, the integrated imaging/cancer treatment system 4800 compriseselements that allow one or more of:

-   -   any imager technology/type/system;    -   translation of the imager technology along a longitudinal axis        of the patient 730 while the patient 730 maintains a tumor        treatment position;    -   rotation of the imager technology along a circumferential        axial/radial path around a point on the longitudinal axis of the        patient 730, such as perpendicular to the longitudinal axis,        while the patient maintains a tumor treatment position;    -   a robotic 2, 3, 4, 5, or 6 axis degree of freedom patient        positioning system that positions the patient support 4914 and        hence the patient 730 and the connected patient imaging system        5010 and/or translation/rotation imaging system 4920 relative to        an independently movable cancer treatment beam, such as the        treatment beam 269 and/or a path of positively charged particles        or protons from the nozzle system 146 to the patient 730;    -   imaging of the tumor 720 of the patient 730 in a treatment        position using the imager technology before, during, and/or        after treatment of the tumor 720 with the positively charged        particles;    -   generated imager technology signals used to dynamically adjust a        radiation treatment plan;    -   generated imager technology signals used to automatically adjust        a radiation treatment plan;    -   generated imager technology signals used to        automatically/dynamically implement an adjusted radiation        treatment plan;    -   position determination of any element of the imager technology        via use of the fiducial marker system 3200, the fiducial        indicator 4040, the fiducial marker 3310, and/or the fiducial        detector 3320; and    -   operation without knowledge of an isocenter point 263 in the        treatment room 1222 through use of a physically defined point        and/or line, such as the zero point 3502 and/or the zero vector        3501 of the radiation treatment beam 269 from the nozzle system        146 of the charged particle beam system 100.

The integrated imaging/cancer treatment system 4800 optionally uses anythe elements of the hybrid cancer treatment-imaging system 1800, such asthe n rails, sources, detectors, or imaging technologies, where n is apositive integer.

Still yet another embodiment includes any combination and/or permutationof any of the elements described herein.

The main controller, a localized communication apparatus, and/or asystem for communication of information optionally comprises one or moresubsystems stored on a client. The client is a computing platformconfigured to act as a client device or other computing device, such asa computer, personal computer, a digital media device, and/or a personaldigital assistant. The client comprises a processor that is optionallycoupled to one or more internal or external input device, such as amouse, a keyboard, a display device, a voice recognition system, amotion recognition system, or the like. The processor is alsocommunicatively coupled to an output device, such as a display screen ordata link to display or send data and/or processed information,respectively. In one embodiment, the communication apparatus is theprocessor. In another embodiment, the communication apparatus is a setof instructions stored in memory that is carried out by the processor.

The client includes a computer-readable storage medium, such as memory.The memory includes, but is not limited to, an electronic, optical,magnetic, or another storage or transmission data storage medium capableof coupling to a processor, such as a processor in communication with atouch-sensitive input device linked to computer-readable instructions.Other examples of suitable media include, for example, a flash drive, aCD-ROM, read only memory (ROM), random access memory (RAM), anapplication-specific integrated circuit (ASIC), a DVD, magnetic disk, anoptical disk, and/or a memory chip. The processor executes a set ofcomputer-executable program code instructions stored in the memory.

The instructions may comprise code from any computer-programminglanguage, including, for example, C originally of Bell Laboratories,C++, C#, Visual Basic® (Microsoft, Redmond, Wash.), Matlab® (MathWorks,Natick, Mass.), Java® (Oracle Corporation, Redwood City, Calif.), andJavaScript® (Oracle Corporation, Redwood City, Calif.).

Herein, any number, such as 1, 2, 3, 4, 5, is optionally more than thenumber, less than the number, or within 1, 2, 5, 10, 20, or 50 percentof the number.

Herein, any element and/or object is optionally manually and/ormechanically moved, such as along a guiding element or rail, with amotor, and/or under control of the main controller.

The particular implementations shown and described are illustrative ofthe invention and its best mode and are not intended to otherwise limitthe scope of the present invention in any way. Indeed, for the sake ofbrevity, conventional manufacturing, connection, preparation, and otherfunctional aspects of the system may not be described in detail.Furthermore, the connecting lines shown in the various figures areintended to represent exemplary functional relationships and/or physicalcouplings between the various elements. Many alternative or additionalfunctional relationships or physical connections may be present in apractical system.

In the foregoing description, the invention has been described withreference to specific exemplary embodiments; however, it will beappreciated that various modifications and changes may be made withoutdeparting from the scope of the present invention as set forth herein.The description and figures are to be regarded in an illustrativemanner, rather than a restrictive one and all such modifications areintended to be included within the scope of the present invention.Accordingly, the scope of the invention should be determined by thegeneric embodiments described herein and their legal equivalents ratherthan by merely the specific examples described above. For example, thesteps recited in any method or process embodiment may be executed in anyorder and are not limited to the explicit order presented in thespecific examples. Additionally, the components and/or elements recitedin any apparatus embodiment may be assembled or otherwise operationallyconfigured in a variety of permutations to produce substantially thesame result as the present invention and are accordingly not limited tothe specific configuration recited in the specific examples.

Benefits, other advantages and solutions to problems have been describedabove with regard to particular embodiments; however, any benefit,advantage, solution to problems or any element that may cause anyparticular benefit, advantage or solution to occur or to become morepronounced are not to be construed as critical, required or essentialfeatures or components.

As used herein, the terms “comprises”, “comprising”, or any variationthereof, are intended to reference a non-exclusive inclusion, such thata process, method, article, composition or apparatus that comprises alist of elements does not include only those elements recited, but mayalso include other elements not expressly listed or inherent to suchprocess, method, article, composition or apparatus. Other combinationsand/or modifications of the above-described structures, arrangements,applications, proportions, elements, materials or components used in thepractice of the present invention, in addition to those not specificallyrecited, may be varied or otherwise particularly adapted to specificenvironments, manufacturing specifications, design parameters or otheroperating requirements without departing from the general principles ofthe same.

Although the invention has been described herein with reference tocertain preferred embodiments, one skilled in the art will readilyappreciate that other applications may be substituted for those setforth herein without departing from the spirit and scope of the presentinvention. Accordingly, the invention should only be limited by theClaims included below.

1. A method for imaging a tumor of a patient, comprising the steps of:providing a patient support system configured to hold the patient duringimaging and treatment; transporting positively charged particles from asynchrotron, through a beam transport line, and through a nozzle systemand toward a position above the patient support system; providing animaging system comprising: a rotatable unit at least partiallysurrounding an axial perimeter of the patient support system; atranslation guide rail; an imaging source attached to said rotatableunit; and an imaging detector attached to said rotatable unit;translating and rotating said imaging source and said imaging detectorrelative to the patient support using said translation guide rail andsaid rotatable unit; providing an attachment section connected: (1) on afirst end to a robotic arm positioning system and (2) on a second end tosaid patient support and said imaging system; said robotic armpositioning system repositioning, relative to said nozzle system linkedto said synchrotron, said attachment system supporting said patientsupport system and said imaging system.
 2. The method of claim 1,further comprising the step of: collecting X-ray images of the patientusing said imaging source and said imaging detector.
 3. The method ofclaim 2, further comprising the step of: combining the X-ray images intoa three-dimensional image of the tumor of the patient.
 4. The method ofclaim 1, further comprising the steps of: translating said rotatableunit, attached to said imaging source and said imaging detector,longitudinally past the patient on said translation guide rail; andcollecting a first set of images of the patient at a set of translationpositions along said translation guide rail.
 5. The method of claim 4,further comprising the steps of: rotating said rotatable unit, attachedto said imaging source and said imaging detector, circumferentiallyaround the patient; and collecting a second set of images of the patientat a set of rotation positions of said rotatable unit around thepatient.
 6. The method of claim 5, further comprising the step of:collecting a set of X-ray images of the tumor of the patient, the set ofX-ray images comprising at least one of: the first set of images and thesecond set of images.
 7. The method of claim 5, said step of rotatingfurther comprising the step of: rotating said imaging sourcecircumferentially around the patient through rotational motion of afirst ring of said rotatable unit; and simultaneously with said step ofrotating said imaging source, rotating said imaging detectorcircumferentially around the patient through rotational motion of asecond ring of said rotatable unit;
 8. The method of claim 4, furthercomprising the steps of: during said step of collecting the first set ofimages, maintaining said imaging source and said imaging detector onopposite sides of the patient; and prior to at least one time of saidstep of transporting, moving said imaging source relative to saidimaging detector to form an imaging source-tumor-imaging detector angleof less than ninety degrees.
 9. The method of claim 1, furthercomprising the steps of: collecting a set of images of the patient as afunction of at least two rotational positions and at least twotranslational positions of said imaging source relative to the patientwhile the patient continuously maintains a treatment position; andduring a time period of said step of collecting said set of images,treating the tumor of the patient using the positively chargedparticles.
 10. The method of claim 9, further comprising the steps of:while the patient remains in a stationary position both: (1) moving saidnozzle system along a first arc relative to the patient and (2) movingsaid imaging system along a first axis relative to the patient.
 11. Themethod of claim 10, further comprising the steps of: said step ofcollecting said set of images generating a current treatment image ofthe tumor after initiating treatment of the tumor using the positivelycharged particles; and using computer implemented code to automaticallyadjust a radiation treatment plan, directing the use of the positivelycharged particles, using current the treatment image while the patientremains in the treatment position.
 12. An apparatus for imaging andtreating a tumor of a patient, comprising: a patient support systemconfigured to hold the patient; an imaging system comprising: an imagingsource; an imaging detector; at least one guide rail; and a rotatableunit, said imaging source and said imaging detector translatable androtatable relative to the patient support using said at least one guiderail and said rotatable unit; a robotic arm positioning system; apositively charged particle cancer therapy system comprising: (1) asynchrotron connected to a nozzle system via a beam transport line and(2) a treatment beam path passing through said nozzle system and over apatient support system; and an attachment section connected: (1) on afirst end to said robotic arm positioning system and (2) on a second endto at least one of said patient support and said imaging system, saidpatient support system and said imaging system jointly movable, relativeto said nozzle system, using said robotic arm positioning system. 13.The apparatus of claim 12, said imaging source comprising an X-raysource, wherein said imaging detector comprising a two-dimensional X-raydetector.
 14. The apparatus of claim 13, said two-dimensional X-raydetector further comprising a digital X-ray detector array.
 15. Theapparatus of claim 14, further comprising: a main controller configuredto generate a three-dimensional image of the tumor using two dimensionalimages of the tumor output from said imaging system.
 16. The apparatusof claim 15, said attachment section further comprising: an attachmentunit mechanically linked to a translatable ring circumferentiallysurrounding said patient support system, said patient support systemcomprising a platform configured to be laid on by the patient duringuse, said translatable ring longitudinally moveable along said at leastone guide rail.
 17. The apparatus of claim 16, said translatable ringfurther comprising: a first rotatable ring, said imaging source mountedto said first rotatable ring; and a second rotatable ring, said imagingdetector mounted to said second rotatable ring.
 18. The apparatus ofclaim 16, said translatable ring further comprising: a rotatable ring,said imaging source mounted on said rotatable ring and said imagingdetector mounted opposite said imaging source on said rotatable ring.19. The apparatus of claim 12, said robotic arm positioning systemcomprising at least one of: a floor mounting system and a wall mountingsystem.